NBC version of the NXT bike

nxtbike.nbc

#define INTERVAL 100
#define POWMUL -30

#define LIGHTSENSOR IN_2
#define ULTRASONICSENSOR IN_1

dseg segment
  distance sword 0

  oldlight byte
  newlight byte
  deltalight sword

  lowlimit sbyte
  highlimit sbyte
  limitrange byte

  power sbyte

  temp byte
  temp2 byte
  temp3 byte

dseg ends

thread main
  SetSensorColorRed(LIGHTSENSOR)
  SetSensorUltrasonic(ULTRASONICSENSOR)
  ResetRotationCount(OUT_A)

  OnFwd(OUT_A, 30)
  wait 1000
  Off(OUT_A)

  getout highlimit, OUT_A, RotationCount

  OnRev(OUT_A, 30)
  wait 1000
  Off(OUT_A)

  getout lowlimit, OUT_A, RotationCount

  sub highlimit highlimit 5
  add lowlimit lowlimit 5
  sub limitrange, highlimit, lowlimit

  precedes balance, fwd
endt

thread balance
  getin newlight LIGHTSENSOR ScaledValue
  
  Forever:
    mov oldlight, newlight
    getin newlight LIGHTSENSOR ScaledValue
    sub deltalight oldlight newlight
    mul power deltalight POWMUL
    
    getout temp, OUT_A, RotationCount

    cmp LT temp2 temp highlimit
    tst GT temp3 power
    and temp2 temp2 temp3
    brtst NEQ Skip temp2

    cmp GT temp2 temp lowlimit
    tst LT temp3 power
    and temp2 temp2 temp3
    brtst NEQ Skip temp2

    OnFwd(OUT_A, power)
  Skip:

    wait INTERVAL
    jmp Forever
endt

thread fwd
  wait 2000
Restart:
  OnFwd(OUT_BC,100)
Loop:
  wait INTERVAL
  ReadSensorUS(ULTRASONICSENSOR, distance)
  brcmp GT, Restart, distance, 30
  Off(OUT_BC)
  jmp Loop
endt