; Richard Irons                   02/25/2003
; Lab 5 - Cricket control code

global [distance pitch]



; Read distance from sonar

to get_reading

   bsend $180 ; activate the sonar

   bsend 3 ; emit three pings

   ;Return contact distance sent by logochip
   output bsr 0

end





to main

   loop

   [

      ; Activate sonar if switch a is on

      if sensora = 0

      [

          setdistance get_reading

          if distance > -1

          [

               setpitch (distance + 20)

               note pitch 2

          ]

      ]



      ; De-activate sonar if switch a is off

      if sensora

      [

          bsend $181

      ]

   ]

end