Datasheet

Page 110· Applied Robotics with the SumoBot

Figure 3-15 Pulse-Decay Trick Timing

Accounting for Command Execution Times

Figure 3-15 shows the ideal situation, ignoring the amount of time it takes for the BASIC

Stamp 2 to transition from one command to the next. Subtracting 220 from the threshold

variable will make your PULSOUT 6, threshold command delay for the correct amount of

time. Of course, if you subtract 220 from a value that's smaller than 220, your program will

have a negative result, which won't be any good either. That's why it's best to have an

IF...THEN statement check the value of time before subtracting 220

HIGH 10

HIGH 9

PAUSE 1

RCTIME 9, 1, time

threshold = time / 4

IF threshold > 220 THEN ' Account for code overhead

threshold = threshold - 220

ELSE

threshold = 0

ENDIF

You can measure these times with the Parallax USB Oscilloscope. To learn more about the

‘scope and the Understanding Signals student guide, see the #28119 product page at