27404 Parallax Inc, 27404 Datasheet - Page 201

• Manufacturer Part Number: 27404
• Description: COMPETITION RING FOR SUMOBOT
• Manufacturer: Parallax Inc

Specifications of 27404

• Accessory Type: Hobby and Education
• Product: Microcontroller Accessories
• Lead Free Status / RoHS Status: Contains lead / RoHS non-compliant
• For Use With/related Products: SumoBot®
• Lead Free Status / RoHS Status: Lead free / RoHS Compliant, Contains lead / RoHS non-compliant

GOSUB Reset
GOSUB Start_Delay
GOSUB Calibrate_Qtis
GOSUB Look_About
' -----[ Main Routine ]-------------------------------------------------------
DO
LOOP
' -----[ Subroutine - Reset ]-------------------------------------------------
Reset:
' -----[ Subroutine - Start_Delay ]-------------------------------------------
Start_Delay:
IF qtiLF = 1 THEN
ELSEIF qtiRF = 1 THEN
ELSEIF irLF = 1 AND irRF = 1 THEN
ELSEIF irLF = 1 THEN
ELSEIF irRF = 1 THEN
ELSEIF irLS = 1 THEN
ELSEIF irRS = 1 THEN
ELSE
ENDIF
READ RunStatus, temp
temp = temp + 1
WRITE RunStatus, temp
IF (temp.BIT0 = 1) THEN
ELSE
ENDIF
RETURN
GOSUB Avoid_Tawara_Left
GOSUB Avoid_Tawara_Right
GOSUB Go_Forward
GOSUB Track_Front_Left_Object
GOSUB Track_Front_Right_Object
GOSUB Track_Side_Left_Object
GOSUB Track_Side_Right_Object
GOSUB Search_Pattern
DEBUG CLS, "Press/release Reset", CR,
END
DEBUG CR, "Program running..."
"button..."
' Wait for Reset press/release
' 5 Second delay
' Determine b/w threshold
' Was Goto Look_About
' Left qti sees line?
' State = avoid left tawara
' Right qti sees line?
' State = avoid right tawara
' Both? Lunge forward
' State = Go forward
' Just left?
' State = Track front left obj.
' Just right?
' State = Track front right obj.
' Left side?
' State = track side left obj.
' Right side?
' State = track side right obj.
' Nothing sensed?
' State = Search pattern
' Byte @RunStatus -> temp
' Increment temp
' Store new value for next time
' Examine temp.BIT0
' 1 -> end, 0 -> keep going