Datasheet

Page 136· Applied Robotics with the SumoBot
IrLedRS PIN 3 ' Right IR LED connected to P3
IrSenseRS PIN 0 ' Right IR detector to P0
pbSense PIN 6 ' Pushbutton connected to P6
LedSpeaker PIN 5 ' LED/speaker connected to P5
' -----[ Constants ]----------------------------------------------------------
IrFreq CON 38500 ' IR LED transmit frequency
' -----[ Variables ]----------------------------------------------------------
' qtiLeft VAR Word ' Stores left QTI time
' qtiRight VAR Word ' Stores right QTI time
' qtiThreshold VAR Word ' Stores black/white threshold
temp VAR Word ' <--- New temporary variable
multi VAR Word ' <--- New multipurpose variable
sensors VAR Byte ' Sensor flags byte
pushbutton VAR sensors.BIT6 ' Stores pushbutton state
qtiLF VAR sensors.BIT5 ' Stores snapshot of QtiSigLeft
qtiRF VAR sensors.BIT4 ' Stores snapshot of QtiSigRight
irLS VAR sensors.BIT3 ' State of Left Side IR
irLF VAR sensors.BIT2 ' State of Left Front IR
irRF VAR sensors.BIT1 ' State of Right Front IR
irRS VAR sensors.BIT0 ' State of Right Side IR
' -----[ Initialization ]-----------------------------------------------------
GOSUB Calibrate_Qtis ' Determine b/w threshold
' Display heading
DEBUG CLS, " PB", CR, ' Pushbutton
" |QTI",CR, ' QTI line sensors
" |||IROD",CR, ' Infrared Object Detectors
" |||||||",CR,
CR, ' Sensors byte goes here
" |||||||", CR,
" LRLLRR", CR, ' Left/right
" FFSFFS" ' Front/side
' -----[ EEPROM Data ]--------------------------------------------------------
QtiThresh DATA Word 0 ' Word for QTI threshold time
' -----[ Main Routine ]-------------------------------------------------------