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'-----------------------------------------------------------------------------------------------------------------------------' Name : avoidancebas ' Compiler : PicBasic Pro - MicroEngineering Labs ' Notes : Obstacle avoidance using the sonar ranger '-----------------------------------------------------------------------------------------------------------------------------' PortA set as outputs Pin 1 input trisa = %00000010 ' PortB set as outputs trisb = %00000000 PROGRAM 77

avoidancebas program listing (continued)

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'-----------------------------------------------------------------------------------------------------------------------------' initialize variables trigger echo piezo enable_right forward_right reverse_right enable_left reverse_left forward_left dist_raw dist_inch conv_inch turn low enable_left low forward_left low reverse_left low enable_right low forward_right low reverse_right SOUND PIEZO,[115,10,50,10] turn = 0 start: gosub sr_sonar if dist_inch < 12 then turn = turn + 1 gosub backwards if turn0 = 1 then gosub turn_left else VAR PORTA0 VAR PORTA1 VAR PORTA3 VAR PORTB1 VAR PORTB2 VAR PORTB3 VAR PORTB4 VAR PORTB5 VAR PORTB6 VAR WORD VAR WORD CON 15 VAR BYTE

purpose was, how long it was vacant, whether any changes had been made They assemble a historic structures report for the architects who want to make their restoration work as accurate as possible Architectural historians can work in academic settings, for private architectural rms, and for government agencies concerned with historic preservation The minimum educational requirement for an architectural historian is an undergraduate degree in history or architectural history, though most positions require a graduate degree

gosub turn_right endif endif gosub forward goto start '-----------------------------------------------------------------------------------------------------------------------------' movement subroutines forward: high high high high enable_left forward_left enable_right forward_right

avoidancebas program listing (continued)

To achieve authenticity, the interior of a historic building must be given as much attention as the exterior, especially if the building will be used as a museum open to the public Historic interior designers can be architects or specially trained professionals They must be experienced in the investigation, documentation, research, and analysis of the lighting, furnishings, nishes, and decorative arts of building interiors Historic interior specialists generally work as part of a team with the restoration architect and conservator

pause 50 low low low low return '-----------------------------------------------------------------------------------------------------------------------------turn_left: high high high high enable_left forward_left enable_right reverse_right enable_left forward_left enable_right forward_right

avoidancebas program listing (continued)

shopping Club publications are your best source of ads for the car you want and the newsletter articles will increase your knowledge beforehand) Schedule time for your project Otherwise it will never be finished Buy what s popular The type of car will depend on your preferences, but if you are buying to restore and resell, buy what s in vogue Parts are more readily available, and more mechanics will have experience working on popular models Whether you do your own work or have it done, whether you take on a less costly driver s car fix up or an all-out show-car restoration, remember that the restorer s hourly rates (or your work hours) are the same whether the car is a classic or a dog Remember, too, that a car starts needing restoration the minute restoration is finished Once the car is restored and ready to sell, there are some important guidelines to follow First, advertise generously in local newspapers and suitable car magazines, including Hemmings and the car club magazines Advertise months before you really need to sell the vehicle Again, research the market for prices Don t advertise your car at the total of your costs plus an expected profit, but price yours with similar cars in similar condition If the total of the costs sets the price of the car profitably, wonderful But be realistic Ask for more than you expect to get, but put a floor on your figure and try not to sell the vehicle for less Above all, it is important to give yourself ample time to sell the car and avoid a position in which you must sell quickly It is also helpful to take your car to shows where prospective buyers can see it Consider using a broker or having an exotic car dealer sell it on consignment for a percentage of its selling price An auction is another viable alternative for marketing a highpriced car.

low forward_left low enable_right low reverse_right return '-----------------------------------------------------------------------------------------------------------------------------backwards: SOUND PIEZO,[115,5,90,2,80,4,50,10] high high high high enable_left reverse_left enable_right reverse_right

The following organizations are listed here because their work involves historic preservation They depend on membership to survive and encourage anyone with an interest to join They provide jobs to restoration architects

pause 300 low low low low return '-----------------------------------------------------------------------------------------------------------------------------turn_right: high high high high enable_left reverse_left enable_right forward_right enable_left reverse_left enable_right reverse_right

low reverse_left low enable_right low forward_right return '-----------------------------------------------------------------------------------------------------------------------------sr_sonar: pulsout trigger,1 pulsin echo,1,dist_raw dist_inch = (dist_raw/conv_inch) pause 10 return end