Datasheet

Chapter 4: Navigation Tips · Page 195
closely matches the conditions for your competition ring, taking into account
nearby objects, whether or not the floor reflects infrared, etc.
√ Also, make sure to adjust your QTI threshold calculation if you encountered
problems with detecting the crease marks in the SumoBot Robot Competition
Ring poster. See Activity #5 in this chapter.
√ Download your updated SumoWrestler.bs2 into SumoBot A.
√ Save a copy of the program as MySumoWithSubrtoutines.bs2.
√ Incorporate the changes you made in MySumoWrestler.bs2 into this new
program's
Search_Pattern subroutine. What differences did you encounter?
√ Download your updated MySumoWrestler.bs2 into SumoBot B.
√ Let them compete against each other using the same starting positions as the
previous activity.
' -----[ Title ]--------------------------------------------------------------
' Applied Robotics with the SumoBot - SumoWrestler.bs2
' SumoWrestler.bs2 modified so that each state is contained by a
' subroutine.
' {$STAMP BS2} ' Target = BASIC Stamp 2
' {$PBASIC 2.5} ' Language = PBASIC 2.5
' -----[ I/O Definitions ]---------------------------------------------------
ServoLeft PIN 13 ' Left servo connected to P13
ServoRight PIN 12 ' Right servo connected to P12
qtiPwrLeft PIN 10 ' Left QTI on/off pin P10
qtiSigLeft PIN 9 ' Left QTI signal pin P9
qtiPwrRight PIN 7 ' Right QTI on/off pin P7
qtiSigRight PIN 8 ' Right QTI signal pin P8
DummyPin PIN 6 ' I/O pin for pulse-decay P6
LedSpeaker PIN 5 ' LED & speaker connected to P5
IrLedLS PIN 2 ' Left IR LED connected to P2
IrSenseLS PIN 1 ' Left IR detector to P1
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