Datasheet

Chapter 4: Navigation Tips · Page 155
√ Modify the Pulse_Servos subroutine to accommodate the rest of the maneuvers
in the SumoBot maneuver constants list.
√ For the
CurveLeft and CurveRight maneuvers, tune them so that the SumoBot
can do a full circle in the ring without passing over the white tawara line (see
Figure 4-4).
Figure 4-4
Circling inside the
Sumo Ring
Spend some time refining CurveLeft and CurveRight. These two maneuvers are
strategically important to your SumoBot.
Since
maneuver is a nibble variable, it can store any one of up to 16 different maneuvers.
LOOKUP commands can have up to 256 different Value arguments, so if you change the
maneuver variable to a byte, you will likely have more maneuver possibilities than a
person could dream up.
√ Try making up some of your own, and add them to the maneuver constants list.
Remember, you will need new entries added to the
LOOKUP command’s table.
ACTIVITY #2: SETTING YOUR SIGHTS ON THE OPPONENT
As soon as your SumoBot sees its opponent with one infrared object detecting "eye", it
needs to maneuver so that it can see it with both eyes. There are lots of ways to do this.
For example, the SumoBot can be programmed to do a standard Boe-Bot maneuver by
rotating in place until it sees its opponent with both eyes. The drawback to this approach
involves a nearby opponent shown in Figure 4-5. If your SumoBot halts all forward