27404 Parallax Inc, 27404 Datasheet - Page 192

• 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

FS_CW
NO_ROT
LS_CCW
LS_CW
' IR object detectors
IrFreq
' -----[ Variables ]----------------------------------------------------------
temp
multi
counter
maneuver
sensors
qtiLF
qtiRF
irLS
irLF
irRF
irRS
' -----[ EEPROM Data ]--------------------------------------------------------
RunStatus
QtiThresh
' -----[ Initialization ]-----------------------------------------------------
GOSUB Reset
GOSUB Start_Delay
GOSUB Calibrate_Qtis
GOTO Look_About
' -----[ Main Routine ]-------------------------------------------------------
DO
IF qtiLF = 1 THEN
FOR counter = 1 TO 15
NEXT
FOR counter = 1 TO 15
maneuver = Backward
GOSUB Servos_And_Sensors
maneuver = RotateRight
GOSUB Servos_And_Sensors
CON
CON
CON
CON
CON
VAR
VAR
VAR
VAR
VAR
VAR
VAR
VAR
VAR
VAR
VAR
DATA
DATA
650
750
770
730
38500
Word
Word
Byte
Nib
Byte
sensors.BIT5
sensors.BIT4
sensors.BIT3
sensors.BIT2
sensors.BIT1
sensors.BIT0
0
Word 0
' Full speed clockwise
' No rotation
' Low speed counterclockwise
' Low speed clockwise
' IR LED frequency
' Temporary variable
' Multipurpose variable
' Loop counting variable.
' SumoBot travel maneuver
' Sensor flags byte
' Stores snapshot of QtiSigLeft
' Stores snapshot of QtiSigRight
' State of Left Side IR
' State of Left Front IR
' State of Right Front IR
' State of Right Side IR
' Run status EEPROM byte
' Word for QTI threshold time
' Wait for Reset press/release
' 5 Second delay
' Determine b/w threshold
' Start mid search pattern
' Left QTI sees line?
' State = Avoid tawara left
' Back up
' Turn right