28125 Parallax Inc, 28125 Datasheet - Page 194

• Manufacturer Part Number: 28125
• Description: TEXT ROBOTICS
• Manufacturer: Parallax Inc

Specifications of 28125

• Title: Robotics with the Boe-Bot
• Product: Microcontroller Accessories
• Lead Free Status / RoHS Status: Not applicable / Not applicable

Turn_Right:
Back_Up:
How Roaming with Whiskers Works
The
states that require attention. If both whiskers are pressed (
turn is executed by calling the
subroutine twice in a row. If just the left whisker is pressed (
calls the
whisker is pressed
Turn_Left
neither whisker is pressed (
Forward_Pulse
NEXT
RETURN
FOR pulseCount = 0 TO 20
NEXT
RETURN
FOR pulseCount = 0 TO 40
NEXT
RETURN
PAUSE 20
PULSOUT 13, 850
PULSOUT 12, 850
PAUSE 20
PULSOUT 13, 650
PULSOUT 12, 850
PAUSE 20
IF
...
IF (IN5
ELSEIF (IN5
ELSEIF (IN7
ELSE
ENDIF
THEN
Back_Up
GOSUB Back_Up
GOSUB Turn_Left
GOSUB Turn_Left
GOSUB Back_Up
GOSUB Turn_Right
GOSUB Back_Up
GOSUB Turn_Left
GOSUB Forward_Pulse
subroutine. The only possible combination that has not been covered is if
statements in the Main Routine section first check the whiskers for any
subroutine in this case.
= 0) AND (IN7 = 0) THEN
subroutine followed by the
(IN7 = 0
= 0) THEN
= 0) THEN
IN5 = 1
Back_Up
), the
Back_Up
and
subroutine followed by calling the
IN7 = 1
Turn_Right
subroutine is called, followed by the
' Right turn, about 90-degrees.
' Back up.
). The
IN5 = 0
IN5 = 0
ELSE
subroutine. If the right
and
command calls the
), then the program
IN7 = 0
Turn_Left
), a U-