27404 Parallax Inc, 27404 Datasheet - Page 165
![COMPETITION RING FOR SUMOBOT](/photos/26/91/269197/27404-l_sml.jpg)
27404
Manufacturer Part Number
27404
Description
COMPETITION RING FOR SUMOBOT
Manufacturer
Parallax Inc
Datasheet
1.27404.pdf
(266 pages)
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
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temp
counter
maneuver
sensors
irLS
irLF
irRF
irRS
' -----[ Main Routine ]-------------------------------------------------------
DO
LOOP
' -----[ Subroutine - Servos_And_Sensors ]------------------------------------
Servos_And_Sensors:
IF irLF = 1 AND irRF = 1 THEN
ELSEIF irLF = 1 THEN
ELSEIF irRF = 1 THEN
ELSE
ENDIF
GOSUB Pulse_Servos
' Call sensor subroutine(s).
sensors = 0
GOSUB Read_Object_Detectors
maneuver = Forward
GOSUB Servos_And_Sensors
counter = 0
DO UNTIL (irLF = 1 AND irRF = 1) OR counter > 15
LOOP
counter = 0
DO UNTIL (irLF = 1 AND irRF = 1) OR counter > 15
LOOP
GOSUB Read_Object_Detectors
maneuver = PivotLeft
GOSUB Servos_And_Sensors
counter = counter + 1
maneuver = PivotRight
GOSUB Servos_And_Sensors
counter = counter + 1
VAR
VAR
VAR
VAR
VAR
VAR
VAR
VAR
Word
Byte
Nib
Byte
sensors.BIT3
sensors.BIT2
sensors.BIT1
sensors.BIT0
' Temporary variable
' Loop counting variable.
' SumoBot travel maneuver
' Sensor flags byte
' State of Left Side IR
' State of Left Front IR
' State of Right Front IR
' State of Right Side IR
' Both?
' State = Lunge forward
' Just left?
' State = track front left object
' Pivot left 15
' Just right?
' State=track front right object
' Pivot right 15
' No objects detected?
' State = search pattern
' Call Pulse_Servos subroutine
' Clear previous sensor values
' Call Read_Object_Detectors
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