Datasheet

Chapter 5: Debugging and Datalogging · Page 227
RETURN
' -----[ Subroutine - Pulse_Servos ]------------------------------------------
Pulse_Servos:
' Pulse to left servo
LOOKUP maneuver, [ FS_CCW, FS_CW, FS_CW, FS_CCW,
NO_ROT, FS_CCW, LS_CCW, FS_CCW ], temp
PULSOUT ServoLeft, temp
' Pulse to right servo
LOOKUP maneuver, [ FS_CW, FS_CCW, FS_CW, FS_CCW,
FS_CW, NO_ROT, FS_CW, LS_CW ], temp
PULSOUT ServoRight, temp
' Pause between pulses (remove when using IR object detectors + QTIs).
' PAUSE 20
RETURN
' -----[ Subroutine - Read_Object_Detectors ]---------------------------------
Read_Object_Detectors:
FREQOUT IrLedRS, 1, IrFreq ' Right side IR LED headlight
irRS = ~IrSenseRS ' Save right side IR receiver
FREQOUT IrLedRF, 1, IrFreq ' Repeat for right-front
irRF = ~IrSenseRF
FREQOUT IrLedLF, 1, IrFreq ' Repeat for left-front
irLF = ~IrSenseLF
FREQOUT IrLedLS, 1, IrFreq ' Repeat for left side
irLS = ~IrSenseLS
RETURN
' -----[ Subroutine - Read_Line_Sensors ]-------------------------------------
Read_Line_Sensors:
HIGH qtiPwrLeft ' Turn on QTIs
HIGH qtiPwrRight
HIGH qtiSigLeft ' Push signal voltages to 5 V
HIGH qtiSigRight
PAUSE 1 ' Wait 1 ms for capacitors
READ QtiThresh, Word temp ' Get threshold time