#define RightForward portd.f5 #define LeftForward portd.f7 #define RightReverse portd.f4 #define LeftReverse portd.f6 //Global Variables unsigned short cnt; //Function Prototypes void SanityBlink(int BlinkGreenLedThisManyTimes, int BlinkDelay); void InitializePortsAndPeripherals(void); void Toggle(void); void MoveForward(long amount); void SpinRight(long degrees); void SpinLeft(long degrees); void CommandCompleted(void); void interrupt() { if (PIR1.TMR2IF) { cnt++ ; // increment counter PIR1.TMR2IF = 0; // clears TMR2IF TMR2 = 0; } } void main() { InitializePortsAndPeripherals(); SanityBlink(10, 100); cnt = 0; // initialize cnt MoveForward(40); SpinRight(90); MoveForward(40); SpinRight(90); MoveForward(40); SpinRight(90); MoveForward(40); SpinLeft(360); SanityBlink(3,100); } void SpinRight(long degrees) { long i; long TranslatedDegrees; TranslatedDegrees = degrees /4; for(i=0;i