27404 Parallax Inc, 27404 Datasheet - Page 186

• 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

' -----[ Subroutine - Servos_And_Sensors ]------------------------------------
Servos_And_Sensors:
'
' -----[ Subroutine - Pulse_Servos ]------------------------------------------
Pulse_Servos:
LOW qtiPwrLeft
multi = temp
HIGH qtiPwrRight
HIGH qtiSigRight
PAUSE 1
RCTIME qtiSigRight, 1, temp
multi = (multi + temp) / 2
multi = multi / 4
IF multi > 220 THEN
ELSE
ENDIF
WRITE QtiThresh, Word multi
RETURN
GOSUB Pulse_Servos
' Call sensor subroutine(s).
sensors = 0
GOSUB Read_Line_Sensors
RETURN
' Pulse to left servo
LOOKUP maneuver, [ FS_CCW, FS_CW, FS_CW, FS_CCW,
PULSOUT ServoLeft, temp
' Pulse to right servo
LOOKUP maneuver, [ FS_CW, FS_CCW, FS_CW, FS_CCW,
PULSOUT ServoRight, temp
GOSUB Read_Object_Detectors
multi = multi - 220
multi = 0
NO_ROT, FS_CCW, LS_CCW, FS_CCW ], temp
FS_CW, NO_ROT, FS_CW, LS_CW ], temp
' Turn left QTI off
' Free temp for another RCTIME
' Turn right QTI on
' Discharge capacitor
' Measure charge time
' Calculate average
' Take 1/4 average
' Account for code overhead
' Threshold to EEPROM
' Call Pulse_Servos subroutine
' Clear previous sensor values
' Look for lines
' Call Read_Object_Detectors