Datasheet

Chapter 3: EEPROM Tricks and Program Tips · Page 115
' -----[ 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
DummyPin PIN 6 ' Unused I/O pin
' -----[ Variables ]----------------------------------------------------------
qtiStateLeft VAR Bit ' Stores snapshot of QtiSigLeft
qtiStateRight VAR Bit ' Stores snapshot of QtiSigRight
qtiLeft VAR Word ' Stores left QTI time
qtiRight VAR Word ' Stores right QTI time
qtiThreshold VAR Word ' Stores black/white threshold
' -----[ Initialization ]-----------------------------------------------------
GOSUB Calibrate_Qtis
DEBUG CLS, "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, 3,
BIN1 qtiStateLeft, CRSRX, 8, ' Display reflection values
BIN1 qtiStateRight, CR
IF qtiStateLeft = 0 THEN ' Indicate what left QTI sees
DEBUG "White"
ELSE
DEBUG "Black"
ENDIF
DEBUG CRSRX, 8
IF qtiStateRight = 0 THEN ' Indicate what right QTI sees
DEBUG "White"
ELSE
DEBUG "Black"
ENDIF
PAUSE 100 ' Delay for slower PCs