VERSION 5.00
Begin {C62A69F0-16DC-11CE-9E98-00AA00574A4F} UserForm1 
   Caption         =   "UserForm1"
   ClientHeight    =   4452
   ClientLeft      =   36
   ClientTop       =   264
   ClientWidth     =   3804
   OleObjectBlob   =   "UserForm1.frx":0000
   StartUpPosition =   1  'CenterOwner
End
Attribute VB_Name = "UserForm1"
Attribute VB_Creatable = False
Attribute VB_PredeclaredId = True
Attribute VB_Exposed = False





Private Sub Spirit1_InputChange(ByVal Number As Integer, ByVal Value As Integer)

End Sub

Private Sub UserForm_Click()
End Sub
Private Sub AliveCheck_Click()
'
' LegoTest Macro
' Macro recorded 12/12/98 by Amnon Silverstein
'
Dim step_delay As Integer
    
    PBrickCtrl.InitComm
    step_delay = 5
    If PBrickCtrl.PBAliveOrNot Then
        PBrickCtrl.SelectPrgm 0
            PBrickCtrl.BeginOfTask 0
            PBrickCtrl.On "motor0"
            PBrickCtrl.Wait CON, step_delay
            PBrickCtrl.Off "motor0"
        PBrickCtrl.EndOfTask
        PBrickCtrl.SelectPrgm 1
            PBrickCtrl.BeginOfTask 1
            PBrickCtrl.On "motor1"
            PBrickCtrl.Wait CON, 2 'step_delay
            PBrickCtrl.Off "motor1"
        PBrickCtrl.EndOfTask
        PBrickCtrl.SelectPrgm 2
            PBrickCtrl.BeginOfTask 2
            PBrickCtrl.On "motor1"
            PBrickCtrl.While 9, 1, 0, 2, 0
            PBrickCtrl.EndWhile
            PBrickCtrl.Off "motor1"
        PBrickCtrl.EndOfTask
        PBrickCtrl.SelectPrgm 3
            PBrickCtrl.BeginOfTask 3
            PBrickCtrl.On "motor0"
            PBrickCtrl.While 9, 2, 3, 2, 1
            PBrickCtrl.EndWhile
            PBrickCtrl.Off "motor0"
        PBrickCtrl.EndOfTask
        PBrickCtrl.SetSensorType 0, LIGHT_TYPE
         PBrickCtrl.SetSensorType 1, ANGLE_TYPE
        PBrickCtrl.PlaySystemSound SWEEP_FAST_SOUND
        Alive.Caption = "Ready to roll!"
    Else
        Alive.Caption = "No RCX connection."
    End If
End Sub

Private Sub Go_Click()

Dim sensor_val As Integer
Dim put_cell As String
Dim camera_res As Integer
Dim old_timer As Integer
Dim new_timer As Integer
Dim angle_step As Integer
Dim current_angle As Integer
Dim needed_angle As Integer

    angle_step = 4
    camera_res = 55
    PBrickCtrl.SetSensorType 0, 3
    PBrickCtrl.SetPower "motor0motor1", CON, 7
    PBrickCtrl.SetFwd "motor0motor1"
    For y = 0 To (camera_res - 1)
        PBrickCtrl.StartTask 0
        sensor_val = PBrickCtrl.Poll(9, 0)
        PBrickCtrl.SetFwd "motor1"
        For x = 0 To (camera_res - 1)
            current_angle = PBrickCtrl.Poll(9, 1)
            needed_angle = (angle_step * x)
            keep_going = 0
            While (((current_angle - needed_angle) < 0) And (keep_going < 30))
                PBrickCtrl.StartTask 1
                keep_going = keep_going + 1
                current_angle = PBrickCtrl.Poll(9, 1)
            Wend
            sensor_val = 0
            For i = 1 To 1
               sensor_val = sensor_val + PBrickCtrl.Poll(9, 0)
            Next
            Range("A1").Select
            ActiveCell.Offset(x, y).Select
            ActiveCell.FormulaR1C1 = Str(sensor_val)
        Next
        PBrickCtrl.SetRwd "motor1"
        PBrickCtrl.StartTask 2
        current_angle = PBrickCtrl.Poll(9, 1)
        While (current_angle > 0)
           current_angle = PBrickCtrl.Poll(9, 1)
        Wend
    Next
    ' Home
    PBrickCtrl.StartTask 2
    PBrickCtrl.SetRwd "motor0"
    PBrickCtrl.StartTask 3

End Sub