27404 Parallax Inc, 27404 Datasheet - Page 187

• 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

' -----[ Subroutine - Read_Line_Sensors ]-------------------------------------
Read_Line_Sensors:
Your Turn - Looking Around at the Start and Designing a Search Pattern
Figure 4-13 is almost identical to Figure 4-12, but there is one important difference. In
Figure 4-13, the SumoBot looks around before moving forward. Especially if your
SumoBot doesn't happen to see its opponent at the beginning of the match, this first look-
around could easily determine which competitor gets the Yuko point.
' Pause between pulses (remove when using IR object detectors + QTIs).
PAUSE 20
RETURN
HIGH qtiPwrLeft
HIGH qtiPwrRight
HIGH qtiSigLeft
HIGH qtiSigRight
PAUSE 1
READ QtiThresh, Word temp
INPUT qtiSigLeft
INPUT qtiSigRight
PULSOUT DummyPin, temp
qtiLF
qtiRF = ~qtiSigRight
LOW qtiPwrLeft
LOW qtiPwrRight
RETURN
= ~qtiSigLeft
' Turn on QTIs
' Push signal voltages to 5 V
' Wait 1 ms for capacitors
' Get threshold time
' Start the decays
' Wait threshold time
' Snapshot of QTI signal states
' Turn off QTIS