27404 Parallax Inc, 27404 Datasheet - Page 185
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 - Calibrate_Qtis ]----------------------------------------
Calibrate_Qtis:
ELSEIF qtiRF = 1 THEN
ELSE
ENDIF
HIGH qtiPwrLeft
HIGH qtiSigLeft
PAUSE 1
RCTIME qtiSigLeft, 1, temp
NEXT
FOR counter = 1 TO 15
NEXT
FOR counter = 1 TO 15
NEXT
FOR counter = 1 TO 15
NEXT
FOR counter = 1 TO 35
NEXT
FOR counter = 1 TO 12
NEXT
FOR counter = 1 TO 24
NEXT
FOR counter = 1 TO 12
NEXT
Next_State:
maneuver = Backward
GOSUB Servos_And_Sensors
maneuver = RotateRight
GOSUB Servos_And_Sensors
maneuver = Backward
GOSUB Servos_And_Sensors
maneuver = RotateLeft
GOSUB Servos_And_Sensors
maneuver = Forward
GOSUB Servos_And_Sensors
IF sensors <> 0 THEN GOTO Next_State
maneuver = RotateRight
GOSUB Servos_And_Sensors
IF sensors <> 0 THEN GOTO Next_State
maneuver = RotateLeft
GOSUB Servos_And_Sensors
IF sensors <> 0 THEN GOTO Next_State
maneuver = RotateRight
GOSUB Servos_And_Sensors
IF sensors <> 0 THEN GOTO Next_State
' Back up
' Turn right
' Right qti sees line?
' State = Avoid tawara right
' Back up
' Turn left
' No objects detected?
' State = search pattern
' Forward
' Look right
' Look left
' Re-align to forward
' Exit point of search pattern
' Turn left QTI on
' Discharge capacitor
' Measure charge time
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