Datasheet

Chapter 4: Navigation Tips · Page 189
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
ELSEIF irLF = 1 AND irRF = 1 THEN ' Both?
maneuver = Forward ' State = Lunge forward
GOSUB Servos_And_Sensors
ELSEIF irLF = 1 THEN ' Just left?
counter = 0 ' State = track front left object
DO UNTIL (irLF = 1 AND irRF = 1) OR counter > 15
maneuver = CurveLeft ' Curve left 15
GOSUB Servos_And_Sensors
counter = counter + 1
LOOP
DO UNTIL (irLF = 1 AND irRF = 1) OR counter > 30
maneuver = RotateLeft ' Rotate left 30
GOSUB Servos_And_Sensors
counter = counter + 1
LOOP
ELSEIF irRF = 1 THEN ' Just right?
counter = 0 ' State=track front right object
DO UNTIL (irLF = 1 AND irRF = 1) OR counter > 15
maneuver = CurveRight ' Curve right 15
GOSUB Servos_And_Sensors
counter = counter + 1
LOOP
DO UNTIL (irLF = 1 AND irRF = 1) OR counter > 30
maneuver = RotateRight ' Rotate right 30
GOSUB Servos_And_Sensors
counter = counter + 1
LOOP
ELSEIF irLS = 1 THEN ' Object left side?
DO UNTIL irRF = 1 OR irLF = 1 ' State = track left side object
maneuver = RotateLeft ' Rotate left
GOSUB Servos_And_Sensors
LOOP
ELSEIF irRS = 1 THEN ' Object right side?
DO UNTIL irRF = 1 OR irLF = 1 ' State = track right side object
maneuver = RotateRight ' Rotate right
GOSUB Servos_And_Sensors
LOOP
ELSE ' No objects detected?
FOR counter = 1 TO 35 ' State = search pattern
maneuver = Forward
GOSUB Servos_And_Sensors ' Forward