Datasheet

Page 122· Applied Robotics with the SumoBot
Your Turn - Testing All Four
Your SumoBot will eventually need to check and process information from all four IR
object detectors each time through the Main Routine’s
DO...LOOP. In this case, it's a
matter of incorporating elements from the IR object detector programs from this activity
and Activity #1 into a single program. If you start with one of the programs, you can
copy the following elements from the other program:
PIN directives, variable
declarations,
FREQOUT commands and statements that set variables equal to pin names.
After that, all that remains is modifying a couple of
DEBUG commands.
√ Save a copy of TestSideIrObjectDetectors.bs2 as TestAllIrObjectDetectors.bs2.
√ Copy all the elements you need from TestFrontIrObjectDetectors.bs2 into your
new program.
√ Modify the
DEBUG commands to display all the object detection bits.
√ Test and troubleshoot until you've got it working.
√ Save the modified program.
ACTIVITY #6: TESTING ALL SENSORS
This activity combines portions of test code that have already been developed for the
following sensors into one program:
• Front IR object detectors
• Side IR object detectors
• Front QTI line sensors
• Pushbutton
Combining Programs
So far, the SumoBot has seven sensors: 2 QTI line sensors, 4 IR object detectors, and 1
pushbutton. Each has a test program that displays binary values for these sensors, either
one at a time or in pairs. This next example combines them into a master program that
stores the state of each sensor via a series of subroutines, then displays them all with a
single
DEBUG command. This can actually be done with minimal additions, effort, and
debugging.