Datasheet

Page 242· Applied Robotics with the SumoBot
GF CON 2 ' Go-Forward
TFLO CON 3 ' Track_Front_Left_Object
TFRO CON 4 ' Track_Front_Right_Object
TSLO CON 5 ' Track_Side_Left_Object
TSRO CON 6 ' Track_Side_Right_Object
SP CON 7 ' Search_Pattern
#ENDIF
#IF DATALOG_MODE > 0 #THEN
' Datalogging constants
MaxBytes CON $150 - $10 ' Maximum number of bytes stored
#ENDIF
' -----[ Variables ]----------------------------------------------------------
temp VAR Word ' Temporary variable
multi VAR Word ' Multipurpose variable
counter VAR Byte ' Loop counting variable.
maneuver VAR Nib ' SumoBot travel maneuver
sensors VAR Byte ' Sensor flags byte
qtiLF VAR sensors.BIT5 ' Stores snapshot of QtiSigLeft
qtiRF VAR sensors.BIT4 ' Stores snapshot of QtiSigRight
irLS VAR sensors.BIT3 ' State of Left Side IR
irLF VAR sensors.BIT2 ' State of Left Front IR
irRF VAR sensors.BIT1 ' State of Right Front IR
irRS VAR sensors.BIT0 ' State of Right Side IR
state VAR Nib ' State machine value
#IF DATALOG_MODE > 0 #THEN
logIndex VAR Word ' Stores EEPROM index
#ENDIF
' -----[ EEPROM Data ]--------------------------------------------------------
RunStatus DATA 0 ' Run status EEPROM byte
QtiThresh DATA Word 0 ' Word for QTI threshold time
#IF DATALOG_MODE = 1 #THEN
LogData DATA @$10, 0 (MaxBytes) ' EEPROM data recording space
#ENDIF
#IF DATALOG_MODE = 2 #THEN
LogData DATA @$10, (MaxBytes) ' EEPROM playback space