Datasheet

Chapter 3: EEPROM Tricks and Program Tips · Page 121
Example Program: TestSideIrObjectDetectors.bs2
' -----[ Title ]--------------------------------------------------------------
' Applied Robotics with the SumoBot - TestSideIrObjectDetectors.bs2
' This program tests only IR object detectors on the SumoBot's breadboard
' that look to the left and right. It does not test the ones mounted in
' front.
' {$STAMP BS2} ' Target = BASIC Stamp 2
' {$PBASIC 2.5} ' Language = PBASIC 2.5
' -----[ I/O Definitions ]---------------------------------------------------
IrLedLS PIN 2 ' Left IR LED connected to P2
IrSenseLS PIN 1 ' Left IR detector to P1
IrLedRS PIN 3 ' Right IR LED connected to P3
IrSenseRS PIN 0 ' Right IR detector to P0
' -----[ Constants ]----------------------------------------------------------
IrFreq CON 38500 ' IR LED transmit frequency
' -----[ Variables ]----------------------------------------------------------
irLS VAR Bit ' State of Left Side IR
irRS VAR Bit ' State of Right Side IR
' -----[ Initialization ]-----------------------------------------------------
DEBUG CLS, "IR DETECTORS", CR, ' Display heading
"Left Right", CR,
"---- -----", CR
' -----[ Main Routine ]-------------------------------------------------------
DO ' DO...LOOP repeats indefinitely
FREQOUT IrLedLS, 1, IrFreq ' Left IRLED shines IR light
irLS = ~IrSenseLS ' Save IR receiver output
FREQOUT IrLedRS, 1, IrFreq ' Repeat for Right IRLED/receiver
irRS = ~IrSenseRS
DEBUG CRSRX, 1, BIN1 irLS, ' Display object detect bits
CRSRX, 9, BIN1 irRS
PAUSE 100 ' Delay for slower PCs
LOOP