Datasheet

Chapter 4: Navigation Tips · Page 167

IrLedLF PIN 4 ' Left IR LED connected to P4

IrSenseLF PIN 11 ' Left IR detector to P11

IrLedRF PIN 15 ' Right IR LED connected to P15

IrSenseRF PIN 14 ' Right IR detector to P14

IrLedRS PIN 3 ' Right IR LED connected to P3

IrSenseRS PIN 0 ' Right IR detector to P0

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

' SumoBot maneuvers

Forward CON 0 ' Forward

Backward CON 1 ' Backward

RotateLeft CON 2 ' RotateLeft

RotateRight CON 3 ' RotateRight

PivotLeft CON 4 ' Pivot to the left

PivotRight CON 5 ' Pivot to the right

CurveLeft CON 6 ' Curve to the left

CurveRight CON 7 ' Curve to the right

' Servo pulse width rotations

FS_CCW CON 850 ' Full speed counterclockwise

FS_CW CON 650 ' Full speed clockwise

NO_ROT CON 750 ' No rotation

LS_CCW CON 770 ' Low speed counterclockwise

LS_CW CON 730 ' Low speed clockwise

' IR object detectors

IrFreq CON 38500 ' IR LED frequency

' -----[ Variables ]----------------------------------------------------------

temp VAR Word ' Temporary variable

counter VAR Byte ' Loop counting variable.

maneuver VAR Nib ' SumoBot travel maneuver

sensors VAR Byte ' Sensor flags byte

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

' -----[ Main Routine ]-------------------------------------------------------