Datasheet

Chapter 3: EEPROM Tricks and Program Tips · Page 87

Always test for and eliminate sources of IR interference near your SumoBot

Competition Ring.

' -----[ Title ]--------------------------------------------------------------

' Applied Robotics with the SumoBot - IrInterferenceSniffer.bs2

' This program tests for IR interference from other fluorescent lights,

' handheld remotes, video recorders and other SumoBot robots.

' {$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

LedSpeaker PIN 5 ' LED/speaker connected to P5

' -----[ Variables ]----------------------------------------------------------

irLF VAR Bit ' State of Left Front IR

irRF VAR Bit ' State of Right Front IR

counter VAR Byte ' Loop counting variable

' -----[ Initialization ]-----------------------------------------------------

DEBUG CLS, "Checking for IR interference...", CR, CR

' -----[ Main Routine ]-------------------------------------------------------

DO ' DO...LOOP repeats indefinitely

irLF = ~IrSenseLF ' Save IR receiver output

irRF = ~IrSenseRF

IF irLF = 1 OR irRF = 1 THEN

DEBUG "IR interference detected!!!", CR

FOR counter = 1 TO 7

FREQOUT LedSpeaker, 50, 4000

PAUSE 50

ENDIF

LOOP