Basic Stamp II code:

' TWS-434 / RWS-434 testing

'-----Declarations-----

loop_count var word ' For...Next loop counter

pulse_count var word ' Used to set number of pulses delivered

'-----Initialization-----

low 2 ' Light LED on pin2

low 11 ' Light LED on pin11

low 12 ' Set P12 right servo output-low

low 13 ' Set P13 left servo output-low

pulse_count = 5 ' Initial movement

'-----Main Routine-----

main: ' Main routine

high 2 ' Light LED on pin2

high 11 ' Light LED on pin11

pause 2000 ' Allow for visual recognition

serout 1,16780,["A"] ' Output pin1,8-bit:no-parity:inverted

debug "transmit ok",cr ' Let user know if transmission successful

low 11 ' Light LED if transmit ok

pause 2000 ' Pause program 2 seconds to see lights

serin 0,16780,1000,timeout,[WAIT("A")] ' Input pin0,8-bit:no-parity:inverted,1 second timeout

debug "receive ok",cr ' Reception successful

low 2 ' Light LED if transmit ok

'gosub pulses ' Call "pulses" subroutine

pause 2000 ' Pause for 2 seconds

goto main ' Return to beginning of program

timeout: ' Did not receive in time

debug "receive timed out",cr ' Let user know of no reception

high 2 ' Turn off LED on pin2

pause 2000 ' Pause 2 seconds

goto main ' Move again

'end main ' End main routine

'-----Subroutines-----

pulses: ' "pulses" subroutine

for loop_count = 1 to pulse_count ' Determines distance to travel

pulsout 12, 655 ' Right servo

pulsout 13, 850 ' Left servo

pause 20 ' Wait 20 ms

next

return