122-27400 Parallax Inc, 122-27400 Datasheet - Page 58
122-27400
Manufacturer Part Number
122-27400
Description
MANUAL FOR SUMOBOT
Manufacturer
Parallax Inc
Datasheet
1.27400.pdf
(77 pages)
Specifications of 122-27400
Accessory Type
Manual
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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Page 48 · SumoBot – Mini Sumo Robotics
Spin_Right:
About_Face:
' --[ IR Processing ]--
Search_For_Opponent:
Scan:
Move_Fwd:
Scan_Right:
NEXT
lastIr = %00
GOTO Lunge
FOR pulses = 1 TO 20
NEXT
lastIr = %00
GOTO Lunge
FOR pulses = 1 TO 10
NEXT
FOR pulses = 1 TO 30
NEXT
lastIr = %00
GOTO Lunge
GOSUB Read_IR_Sensors
' If opponent is not in view, scan last known direction.
' opponent if seen by one "eye" -- if both, lunge forward
BRANCH irBits, [Scan, Follow_Right, Follow_Left, Lunge]
BRANCH lastIR, [Move_Fwd, Scan_Right, Scan_Left]
GOSUB Creep_Forward
GOTO Main
FOR pulses = 1 TO 5
NEXT
GOSUB Creep_Forward
PULSOUT LMotor, LFwdFast
PULSOUT RMotor, RRevFast
PAUSE 20
PULSOUT LMotor, LRevFast
PULSOUT RMotor, RRevFast
PAUSE 20
PULSOUT LMotor, LFwdFast
PULSOUT RMotor, RRevFast
PAUSE 20
PULSOUT LMotor, LFwdSlow
PULSOUT RMotor, RRevSlow
PAUSE 20
' clear scan direction
' left sensor was active
' both sensors on Shikiri
' back up from edge
' turn around
' spin right, slow
' keep moving
Turn toward
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