Datasheet

Chapter 3: EEPROM Tricks and Program Tips · Page 105
' {$STAMP BS2} ' Target = BASIC Stamp 2
' {$PBASIC 2.5} ' Language = PBASIC 2.5
' -----[ I/O Definitions ]---------------------------------------------------
qtiPwrLeft PIN 10 ' Left QTI on/off pin
qtiSigLeft PIN 9 ' Left QTI signal pin
qtiPwrRight PIN 7 ' Right QTI on/off pin
qtiSigRight PIN 8 ' Right QTI signal pin
' -----[ Variables ]----------------------------------------------------------
qtiLeft VAR Word ' Stores left QTI time
qtiRight VAR Word ' Stores right QTI time
qtiThreshold VAR Word ' Stores black/white threshold
' -----[ Initialization ]-----------------------------------------------------
GOSUB Read_Line_Sensors ' Get reflection values
qtiThreshold = (qtiLeft + qtiRight) / 2 ' Calculate average
qtiThreshold = qtiThreshold / 4 ' Take 1/4 average
DEBUG CLS, "Threshold = ",DEC qtiThreshold ' Display threshold
DEBUG CR, CR, "FRONT QTI Sensors", CR, ' Display column headings
"Left Right", CR,
"----- -----", CR
' -----[ Main Routine ]-------------------------------------------------------
DO ' DO...LOOP repeats indefinitely
GOSUB Read_Line_Sensors ' Get reflection values
DEBUG CRSRXY, 0, 5,
DEC5 qtiLeft, CRSRX, 8, ' Display reflection values
DEC5 qtiRight, CR
IF qtiLeft < qtiThreshold THEN ' Indicate what left QTI sees
DEBUG "White"
ELSE
DEBUG "Black"
ENDIF
DEBUG CRSRX, 8
IF qtiRight < qtiThreshold THEN ' Indicate what right QTI sees
DEBUG "White"
ELSE