27404 Parallax Inc, 27404 Datasheet - Page 172
![COMPETITION RING FOR SUMOBOT](/photos/26/91/269197/27404-l_sml.jpg)
27404
Manufacturer Part Number
27404
Description
COMPETITION RING FOR SUMOBOT
Manufacturer
Parallax Inc
Datasheet
1.27404.pdf
(266 pages)
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
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LOOP
' -----[ Subroutine - Servos_And_Sensors ]------------------------------------
Servos_And_Sensors:
IF irLF = 1 AND irRF = 1 THEN
ELSEIF irLF = 1 THEN
ELSEIF irRF = 1 THEN
ELSEIF irLS = 1 THEN
ELSEIF irRS = 1 THEN
ELSE
ENDIF
GOSUB Pulse_Servos
' Call sensor subroutine(s).
maneuver = Forward
GOSUB Servos_And_Sensors
counter = 0
DO UNTIL (irLF = 1 AND irRF = 1) OR counter > 15
LOOP
DO UNTIL (irLF = 1 AND irRF = 1) OR counter > 30
LOOP
counter = 0
DO UNTIL (irLF = 1 AND irRF = 1) OR counter > 15
LOOP
DO UNTIL (irLF = 1 AND irRF = 1) OR counter > 30
LOOP
DO UNTIL irRF = 1 OR irLF = 1
LOOP
DO UNTIL irRF = 1 OR irLF = 1
LOOP
GOSUB Read_Object_Detectors
maneuver = CurveLeft
GOSUB Servos_And_Sensors
counter = counter + 1
maneuver = RotateLeft
GOSUB Servos_And_Sensors
counter = counter + 1
maneuver = CurveRight
GOSUB Servos_And_Sensors
counter = counter + 1
maneuver = RotateRight
GOSUB Servos_And_Sensors
counter = counter + 1
maneuver = RotateLeft
GOSUB Servos_And_Sensors
maneuver = RotateRight
GOSUB Servos_And_Sensors
' Both?
' State = Lunge forward
' Just left?
' State = track front left object
' Curve left 15
' Rotate left 30
' Just right?
' State=track front right object
' Curve right 15
' Rotate right 30
' Object left side?
' State = track left side object
' Rotate left
' Object right side?
' State = track right side object
' Rotate right
' No objects detected?
' State = search pattern
' Call Pulse_Servos subroutine
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