27404 Parallax Inc, 27404 Datasheet - Page 120

• Manufacturer Part Number: 27404
• Description: COMPETITION RING FOR SUMOBOT
• Manufacturer: Parallax Inc

Specifications of 27404

• Accessory Type: Hobby and Education
• Product: Microcontroller Accessories
• Lead Free Status / RoHS Status: Contains lead / RoHS non-compliant
• For Use With/related Products: SumoBot®
• Lead Free Status / RoHS Status: Lead free / RoHS Compliant, Contains lead / RoHS non-compliant

LOOP
' -----[ Subroutine - Calibrate_Qtis ]----------------------------------------
Calibrate_Qtis:
' -----[ Subroutine - Read_Line_Sensors ]-------------------------------------
Read_Line_Sensors:
HIGH qtiPwrLeft
HIGH qtiSigLeft
PAUSE 1
RCTIME qtiSigLeft, 1, qtiLeft
LOW qtiPwrLeft
HIGH qtiPwrRight
HIGH qtiSigRight
PAUSE 1
RCTIME qtiSigRight, 1, qtiRight
GOSUB Read_Line_Sensors
qtiThreshold = (qtiLeft + qtiRight) / 2
qtiThreshold = qtiThreshold / 4
IF qtiThreshold > 220 THEN
ELSE
ENDIF
RETURN
HIGH qtiPwrLeft
HIGH qtiPwrRight
HIGH qtiSigLeft
HIGH qtiSigRight
PAUSE 1
INPUT qtiSigLeft
INPUT qtiSigRight
PULSOUT DummyPin, qtiThreshold
qtiStateLeft
qtiStateRight = qtiSigRight
LOW qtiPwrLeft
LOW qtiPwrRight
RETURN
qtiThreshold = qtiThreshold - 220
qtiThreshold = 0
= qtiSigLeft
' Turn left QTI on
' Discharge capacitor
' Measure charge time
' Turn left QTI off
' Turn right QTI on
' Discharge capacitor
' Measure charge time
' Get reflection values
' Calculate average
' Take 1/4 average
' Account for code overhead
' Turn on QTIs
' Push signal voltages to 5 V
' Wait 1 ms for capacitors
' Start the decays
' Wait for threshold time
' Snapshot of QTI signal states
' Turn off QTIS