Datasheet

Chapter 4: Navigation Tips · Page 181
maneuver = Backward ' Back up
GOSUB Servos_And_Sensors
NEXT
FOR counter = 1 TO 15 ' Turn right
maneuver = RotateRight
GOSUB Servos_And_Sensors
NEXT
ELSEIF qtiRF = 1 THEN ' Right qti sees line?
FOR counter = 1 TO 15 ' State = Avoid tawara right
maneuver = Backward ' Back up
GOSUB Servos_And_Sensors
NEXT
FOR counter = 1 TO 15 ' Turn left
maneuver = RotateLeft
GOSUB Servos_And_Sensors
NEXT
ELSE ' No objects detected?
FOR counter = 1 TO 35 ' State = search pattern
maneuver = Forward
GOSUB Servos_And_Sensors ' Forward
IF sensors <> 0 THEN GOTO Next_State
NEXT
FOR counter = 1 TO 12 ' Look right
maneuver = RotateRight
GOSUB Servos_And_Sensors
IF sensors <> 0 THEN GOTO Next_State
NEXT
FOR counter = 1 TO 24 ' Look left
maneuver = RotateLeft
GOSUB Servos_And_Sensors
IF sensors <> 0 THEN GOTO Next_State
NEXT
FOR counter = 1 TO 12 ' Re-align to forward
maneuver = RotateRight
GOSUB Servos_And_Sensors
IF sensors <> 0 THEN GOTO Next_State
NEXT
Next_State: ' Exit point of search pattern
ENDIF
LOOP
' -----[ Subroutine - Calibrate_Qtis ]----------------------------------------
Calibrate_Qtis:
HIGH qtiPwrLeft ' Turn left QTI on
HIGH qtiSigLeft ' Discharge capacitor
PAUSE 1
RCTIME qtiSigLeft, 1, temp ' Measure charge time