Datasheet

Page 180· Applied Robotics with the SumoBot

DummyPin PIN 6 ' I/O pin for pulse-decay P6

' -----[ 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

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

temp VAR Word ' Temporary variable

multi VAR Word ' Multipurpose variable

counter VAR Byte ' Loop counting variable.

maneuver VAR Nib ' SumoBot travel maneuver

sensors VAR Byte ' Sensor flags byte

qtiLF VAR sensors.BIT5 ' Stores snapshot of QtiSigLeft

qtiRF VAR sensors.BIT4 ' Stores snapshot of QtiSigRight

' -----[ EEPROM Data ]--------------------------------------------------------

QtiThresh DATA Word 0 ' Word for QTI threshold time

' -----[ Initialization ]-----------------------------------------------------

GOSUB Calibrate_Qtis ' Determine b/w threshold

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

IF qtiLF = 1 THEN ' Left qti sees line?

FOR counter = 1 TO 15 ' State = Avoid tawara left