;-----------------------------------------------------
; Nick Pennella
; Frank Fernandes
; 91.548 Lab 5
;
; HandyCricket code to receive the distance to a target
; using a logochip with a Devantech sonar attached.
; the cricket will then move the sonar until it is approx. 
; 7 inches from the nearest object in front of it
;-------------------------------------------------------

global [ dist ]

to workpl

  ;-----------------------------------------
  ;send the command to send the sonar ping
  ;-----------------------------------------
  bsend $180
  
  ;-----------------------------------------
  ;receive the distance from the logochip
  ;-----------------------------------------
  setdist bsr 1

  ;----------------------------------------------
  ; if the distance is > 7(inches) move forward
  ; else if the distance is = 7(inches) stop
  ; else (the distance < 7(inches) move backward
  ;----------------------------------------------
  ifelse dist  >  7 [ thisway onfor 1] [
  ifelse dist = 7 [off] [thatway onfor 1] ]  
  
  ;------------------------------------------------- 
  ;turn on the motor for whatever the length is on 
  ;the return side
  ;-------------------------------------------------
  workpl
end