***program start***
100 '---------- Rover Move ------------
110 gosub 10000 : ' init
115 out 16,1
120 AmountOfMove=7000:DirectionToMove=0:gosub 11000: ' Go straight 70mm
130 out 16,0
140 AmountOfMove=90000:DirectionToMove=1:gosub 11000: ' Turn right 90 degree
150 out 16,1
160 AmountOfMove=7000:DirectionToMove=3:gosub 11000: ' Go backwards 70mm
170 out 16,0
180 AmountOfMove=90000:DirectionToMove=1:gosub 11000: ' Turn right 90 degree
190 out 16,1
200 AmountOfMove=7000:DirectionToMove=0:gosub 11000: ' Go straight 70mm
210 out 16,0
220 AmountOfMove=90000:DirectionToMove=2:gosub 11000: ' Turn left 90 degree
230 out 16,1
240 AmountOfMove=7000:DirectionToMove=0:gosub 11000: ' Go straight 70mm
250 out 16,0
260 AmountOfMove=90000:DirectionToMove=2:gosub 11000: ' Turn left 90 degree
500 end
10000 '-------- StepperMotor Init ------------
10010 ' 4 phase unipolar
10020 ' 2-2 excitation
10025 ' Right and left are set based on the direction of travel
10030 ' Left: 0:io0 - x
10040 '       1:io1 - ~x
10050 '       2:io2 - y
10060 '       3:io3 - ~y
10070 ' Right:4:io4 - x
10080 '       5:io5 - ~x
10090 '       6:io6 - y
10095 '       7:io7 - ~y
10100 '
10110 dim PatternL[4],PatternR[4]
10120 PatternL[0]=10:PatternL[1]=11:PatternL[2]=1:PatternL[3]=0
10125 PatternR[0]=0:PatternR[1]=1:PatternR[2]=11:PatternR[3]=10
10130 return
11000 '--------------- Move Rover -----------------
11005 ' input: DirectionToMove,AmountOfMove
11006 '    DirectionToMove 0-Go straight
11007 '                    1-Turn right
11008 '                    2-Turn left
11009 '                    3-Go backwards
11010 '    AmountOfMove    When DirectionToMove 0 or 3
11011 '                      Distance mm x 100  ex. 100mm -> 10000
11012 '                    When DirectionToMove 1 or 2
11013 '                      Angle degree x 1000 ex. 90degree->90000 
11014 '    The rover moves 0.36mm by one step.
11015 '    The rover turns 0.536 degree by one step.
11020 if DirectionToMove=0 || DirectionToMove=3 then
11021   StepToMove=AmountOfMove/36
11022 else
11023   StepToMove=AmountOfMove/536
11024 end if
11230 for I=1 to StepToMove
11231   SS=I-I/4*4
11232   if DirectionToMove=0 then
11233     SSL=SS:SSR=SS
11234   else
11235     if DirectionToMove=1 then
11236       SSL=SS:SSR=3-SS
11237     else
11238       if DirectionToMove=2 then
11239         SSL=3-SS:SSR=SS
11240       else
11241         SSL=3-SS:SSR=3-SS
11242       endif
11243     endif
11244   end if
11250   PAT=PatternL[SSL]
11260   if PAT>=10 then out 0,1:out 1,0:PAT=PAT-10 else out 0,0:out 1,1
11270   if PAT>=1 then out 2,1:out 3,0 else out 2,0:out 3,1
11280   PAT=PatternR[SSR]
11290   if PAT>=10 then out 4,1:out 5,0:PAT=PAT-10 else out 4,0:out 5,1
11300   if PAT>=1 then out 6,1:out 7,0 else out 6,0:out 7,1
11305   sleep 10
11310 next
11340 return
***program end***