#include <ez8.h>

void forward(int ontime1, int offtime1);
void reverse(int ontime1, int offtime1);
void left(int ontime1, int offtime1);
void rotateL(int ontime1, int offtime1);
void right(int ontime1, int offtime1);
void rotateR(int ontime1, int offtime1);

int a, d, status;
unsigned char index=1;

#pragma interrupt
void isrTimer1(void) {
	index = index << 1;
	if(index==0x40){
		index=1;
	}		
}

#define RELOAD 8
void InitTimer1(void) {
  DI();
  T1CTL = (0x07 << 3) | 0x01;   // Cont mode, prescale 2^7=128
  T1H = 0x00; T1L = 0x01;       // T1 start = 0x0001
  T1RH = (RELOAD >> 8); T1RL = (RELOAD & 0xFF);
  SET_VECTOR(TIMER1,isrTimer1);
  IRQ0ENH |= 0x40;             // enable timer1 interrupt T1I
  IRQ0ENL |= 0x40;
  IRQ0 &= ~0x40;                // clear timer1 interrupt flag
  EI();
  T1CTL |= 0x80;                // Enable timer1
}

#pragma interrupt
void LINE(void) {
    DI();                 // Disable Interrupt
	for(a=0;a<80;a++){
		reverse(1000,200);
	}
	while(PAIN & 0x20){
		reverse(600,600);
	}
	status |= 0x01;		
	IRQ0 &= ~0x40;                // clear timer1 interrupt flag
	EI();                 // Enable Interrupt
}

void InitLINE(void) {
  DI();
  PADD |= 0x20;         // Initialize PA5 as Input
  IRQES |= 0x20;       // Set EDGE SELECT Reg to Rising Edge
  SET_VECTOR(P5AD, LINE); // Set ISR
  IRQ1ENL |= 0x20;      // Set Priority Reg to HIGH
  IRQ1ENH |= 0x20;      // Set Priority Reg to HIGH
  IRQ1 &= ~0x20;        // Clear any pending INT rqst from PD3
  EI();                 // Enable Interrupt
}

#define babad 100

void main()
{
	int input;

	PADD=0xff;			//Port A all input
	PBDD=0x00;			//Port B all output
	PCDD=0xff;			//Port C all input

	InitTimer1();
	InitLINE();
/*	PB truth table:			hex value:
	0000 = stop						0x00
	0010 = left						0x02
	1111 = reverse					0x0f
	1110 = rotateL					0x0e
	1000 = right					0x08
	1011 = rotateR					0x0b
	1010 = forward					0x0a

	Sensor truth table:		hex value:
	000 = reverse				  	0x00
	001 = rotateR					0x01
	010 = forward					0x02
	011 = right						0x03
	100 = rotateL					0x04
	101 = 							0x05
	110 = left						0x06
	111 = forward					0x07
*/
	while(1)
	{
		if((PAIN & 0x20) || ((status & 0x01) && !(PAIN & 0x08))){
			reverse(600,600);
		}			
		else{status &= ~0x01;}

		while(!(PAIN & 0x08) && !(status & 0x01)) {
			PBOUT=0x0a;			// attack
		}			

		if(index==0x01){
			for(a=0;a<babad && (PAIN & 0x08);a++){
				forward(300,900);
			}
		}

		if(index==0x02){
			for(a=0;a<babad && (PAIN & 0x08);a++){
				reverse(10,1200);
			}
		}

		if(index==0x04){
			for(a=0;a<babad && (PAIN & 0x08);a++){
				left(600,600);
			}
		}

		if(index==0x08){
			for(a=0;a<babad && (PAIN & 0x08);a++){
				right(600,600);
			}
		}

		if(index==0x10){
			for(a=0;a<150 && (PAIN & 0x08);a++){
				rotateL(700,500);
			}
		}

		if(index==0x20){
			for(a=0;a<150 && (PAIN & 0x08);a++){
				rotateR(700,500);
			}
		}

	}
}		

void reverse(int ontime1, int offtime1)
{
	PBOUT=0x0f;			// reverse
	for(d=0;d<ontime1;d++){}
	PBOUT=0;				//	stop
	for(d=0;d<offtime1;d++){}
}

void left(int ontime1, int offtime1)
{
	PBOUT=0x02;			// rotateL
	for(d=0;d<ontime1;d++){}
	PBOUT=0;				//	stop
	for(d=0;d<offtime1;d++){}
}

void rotateL(int ontime1, int offtime1)
{
	PBOUT=0x0e;			// rotateL
	for(d=0;d<ontime1;d++){}
	PBOUT=0;				//	stop
	for(d=0;d<offtime1;d++){}
}

void right(int ontime1, int offtime1)
{
	PBOUT=0x08;			// rotateR
	for(d=0;d<ontime1;d++){}
	PBOUT=0;				// stop
	for(d=0;d<offtime1;d++){}
}

void rotateR(int ontime1, int offtime1)
{
	PBOUT=0x0b;			// rotateR
	for(d=0;d<ontime1;d++){}
	PBOUT=0;				// stop
	for(d=0;d<offtime1;d++){}
}

void forward(int ontime1, int offtime1)
{
	PBOUT=0x0a;			// forward
	for(d=0;d<ontime1;d++){}
	PBOUT=0;				//	stop
	for(d=0;d<offtime1;d++){}
}