Datasheet

Chapter 1: Mechanical Adjustments · Page 11
√ Repeat five to ten times to be sure which SumoBot's plow adjustment has the
advantage.
√ Adjust the plow of the SumoBot that appeared to lose more often, and repeat the
test.
√ When you are confident that one of your SumoBots has a winning plow
adjustment, try lots of different adjustments on the other SumoBot to find out if
there is any better adjustment that can make it the winner.
√ When you are satisfied with your winning SumoBot's plow, leave its adjustment
as-is, and tune the other SumoBot's plow until its chances of winning/losing are
close to even.
Example Program: Forward100Pulses.bs2
' -----[ Program Description ]------------------------------------------------
' Applied Robotics with the SumoBot - Forward100Pulses.bs2
' SumoBot goes forward 100 pulses after Reset button is pressed and released.
' To repeat the forward motion, press/release the Reset button twice.
'
' {$STAMP BS2}
' {$PBASIC 2.5}
' -----[ I/O Definitions ]---------------------------------------------------
ServoLeft PIN 13 ' Left servo connected to P13
ServoRight PIN 12 ' Right servo connected to P12
' -----[ EEPROM Data ]--------------------------------------------------------
RunStatus DATA 0 ' Start with program not running
' -----[ Variables ]----------------------------------------------------------
temp VAR Byte ' Temporary variable
counter VAR Byte ' FOR...NEXT loop counter
' -----[ Initialization ]-----------------------------------------------------
DEBUG CLS ' Clear the Debug Terminal
Reset_Button:
READ RunStatus, temp ' read current status
temp = ~temp ' invert status
WRITE RunStatus, temp ' save for next reset
IF (temp > 0) THEN ' 0 -> End, 1 -> Main routine
DEBUG "Press/release Reset..."
END
ENDIF