'PALMrobot.bs2
' Basic Stamp II code to talk to Palm & control robot joint

palmIn	con	6			' pin RX from palm
palmOut	con	7			' pin TX to palm
delay 	con	20			' how long to wait for RX
modePalm	con	16416			' 19200 inverted 8 bit, no parity
palmData	var	byte			' in from palm
lastPalm	var	byte			' last palmData
palmTX	var	byte			' byte to send palm
encoder	var	byte

start:
serout palmOut, modePalm, [encoder]
   serin palmIn, modePalm, delay, noData, [palmData] 
   if palmData < 32 then noData	' error state
   palmData = 31				' 31 is the max allowed
   goto start
noData:
  encoder = inl & %00011111		' encoder - calls it by direct name
   if palmData = encoder then halt		' stop!
   if palmData > encoder then goGreat
	low 8
	high 9
   goto start
   goGreat:
	high 8
	low 9
   goto start
goto start

halt:					' turn off motor & lights
   low 8
   low 9
   low 13
   low 14
goto start

ltup:
  high 13
  low 14
goto start

ltdn:
  low 13
  high 14
goto start