27403 Parallax Inc, 27403 Datasheet - Page 138

• Manufacturer Part Number: 27403
• Description: GUIDE APP ROBOTCS W/SUMOBOT V1.0
• Manufacturer: Parallax Inc

Specifications of 27403

• Accessory Type: Manual
• 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

Since there's no more
QtiThresh
changed too. A
the
qtiThreshold
temp
'
'
'
'IF qtiThreshold > 220 THEN
'
'
'
'
' -----[ Subroutine - Read_Line_Sensors ]------------------------------
Read_Line_Sensors:
RCTIME qtiSigLeft, 1, temp
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, multi
RETURN
READ QtiThresh, Word temp
INPUT qtiSigLeft
INPUT qtiSigRight
variable. Then,
RCTIME qtiSigRight, 1, qtiRight
qtiThreshold = (qtiLeft + qtiRight) / 2
qtiThreshold = qtiThreshold / 4
ELSE
ENDIF
.
.
.
address in EEPROM, the
multi = multi - 220
threshold = 0
qtiThreshold = qtiThreshold - 220
qtiThreshold = 0
.
READ
command is used to copy the
qtiThreshold
PULSOUT DummyPin, temp
Read_Line_Sensors
variable and the value is instead stored at the
' <--- New measure charge time
' Turn left QTI off
' <--- Add
' Turn right QTI on
' Discharge capacitor
' Measure charge time
' <--- New measure charge time
' <--- New calculate average
' Take 1/4 average
' <--- New take 1/4 average
' <--- New
' <--- New
' <--- New
' <--- New
' <--- New
' <--- New threshold to EEPROM
' <-- Add get threshold time
' Start the decays
QtiThresh
' Account for code overhead
replaces
' Calculate average
subroutine will have to be
value from EEPROM to
PULSOUT DummyPIN,