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Chapter 4: Navigation Tips · Page 201
RETURN
' -----[ Subroutine - Track_Front_Left_Object ]-------------------------------
Track_Front_Left_Object:
counter = 0
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
RETURN
' -----[ Subroutine - Track_Front_Right_Object ]------------------------------
Track_Front_Right_Object:
counter = 0
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
RETURN
' -----[ Subroutine - Track_Side_Left_Object ]--------------------------------
Track_Side_Left_Object:
DO UNTIL irRF = 1 OR irLF = 1 ' Rotate left
maneuver = RotateLeft
GOSUB Servos_And_Sensors
LOOP
RETURN
' -----[ Subroutine - Track_Side_Right_Object ]-------------------------------