28125 Parallax Inc, 28125 Datasheet - Page 198

• 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

DO
' ---
' See the "How EscapingCorners.bs2 Works" section that follows this program.
' ---
LOOP
' -----[ Subroutines ]--------------------------------------------------------
Forward_Pulse:
Turn_Left:
IF (IN7 <> IN5) THEN
ENDIF
IF (IN5
ELSEIF (IN5
ELSEIF (IN7
ELSE
ENDIF
PULSOUT 13,850
PULSOUT 12,650
PAUSE 20
RETURN
FOR pulseCount = 0 TO 20
IF (old7 <> IN7) AND (old5 <> IN5) THEN
ELSE
ENDIF
GOSUB Back_Up
GOSUB Turn_Left
GOSUB Turn_Left
GOSUB Back_Up
GOSUB Turn_Right
GOSUB Back_Up
GOSUB Turn_Left
GOSUB Forward_Pulse
PULSOUT 13, 650
counter = counter + 1
old7 = IN7
old5 = IN5
IF (counter > 4) THEN
ENDIF
counter = 1
Detect Consecutive Alternate Corners ------------------------
Same navigation routine from RoamingWithWhiskers.bs2 ------------------
counter = 1
GOSUB Back_Up
GOSUB Turn_Left
GOSUB Turn_Left
= 0) AND (IN7 = 0) THEN
= 0) THEN
= 0) THEN
' One or other is pressed.
' Different from previous.
' Alternate whisker count + 1.
' Record this whisker press
' for next comparison.
' If alternate whisker count = 4,
' reset whisker counter
' and execute a U-turn.
' ENDIF counter > 4.
' ELSE (old7=IN7) or (old5=IN5),
' not alternate, reset counter.
' ENDIF (old7<>IN7) and
' (old5<>IN5).
' ENDIF (IN7<>IN5).
' Both whiskers detect obstacle
' Back up & U-turn (left twice)
' Left whisker contacts
' Back up & turn right
' Right whisker contacts
' Back up & turn left
' Both whiskers 1, no contacts
' Apply a forward pulse
' and check again
' Send a single forward pulse.
' Left turn, about 90-degrees.