Datasheet

Page 148· Applied Robotics with the SumoBot

Your Turn - Using PIN Definitions and Constants

Instead of the number 13 in the PULSOUT command's Pin argument, the example program

can use the

PIN directive ServoLeft. Likewise, the program can use ServoRight in

place of the number 12. Since we know that 650 is the

PULSOUT Duration for full-

speed-clockwise, a good constant name for this number would be

FS_CW. Along the

same lines, 850 can be

FS_CCW for full speed counterclockwise, and 750 can be NO_ROT

for no rotation.

√ Add these

PIN directives and constant declarations to the program:

' -----[ I/O Definitions ]--------------------------------------------

ServoLeft PIN 13 ' Left servo connected to P13

ServoRight PIN 12 ' Right servo connected to P12

' -----[ Constants ]---------------------------------------------------

' Servo pulse width rotation constants

FS_CCW CON 850 ' Full speed counterclockwise

FS_CW CON 650 ' Full speed clockwise

NO_ROT CON 750 ' No rotation

Here is an example of the first one updated with PIN directives and constant names.

' SumoBot goes forward 3 seconds.

FOR counter = 1 TO 122

PULSOUT ServoLeft, FS_CCW

PULSOUT ServoRight, FS_CW

PAUSE 20

√ Modify all the motion routines to use these constants.

LOOKUP Command Review

The LOOKUP command picks a value from the lookup table (the list within the square

braces) and copies that value to

Variable. The value LOOKUP picks depends on the

Index variable.

LOOKUP Index, [Value1, Value2, ... ValueN], Variable