Datasheet

Chapter 3: EEPROM Tricks and Program Tips · Page 83
' -----[ Title ]--------------------------------------------------------------
' Applied Robotics with the SumoBot - TestFrontIrObjectDetectors.bs2
' This program tests the IR object detectors mounted on the X8 and X9 headers
' on the front of the SumoBot.
' {$STAMP BS2} ' Target = BASIC Stamp 2
' {$PBASIC 2.5} ' Language = PBASIC 2.5
' -----[ I/O Definitions ]---------------------------------------------------
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
' -----[ Constants ]----------------------------------------------------------
IrFreq CON 38500 ' IR LED transmit frequency
' -----[ Variables ]----------------------------------------------------------
irLF VAR Bit ' State of Left Front IR
irRF VAR Bit ' State of Right Front IR
' -----[ Initialization ]-----------------------------------------------------
DEBUG CLS, "FRONT IR DETECTORS", CR, ' Display heading
"Left Right", CR,
"---- -----", CR
' -----[ Main Routine ]-------------------------------------------------------
DO ' DO...LOOP repeats indefinitely
FREQOUT IrLedLF, 1, IrFreq ' Left IRLED shines IR light
irLF = ~IrSenseLF ' Save IR receiver output
FREQOUT IrLedRF, 1, IrFreq ' Repeat for right IRLED/receiver
irRF = ~IrSenseRF
DEBUG CRSRX, 1, BIN1 irLF, ' Display object detect bits
CRSRX, 9, BIN1 irRF
PAUSE 100 ' Delay for slower PCs
LOOP