28139 Parallax Inc, 28139 Datasheet - Page 128

• Manufacturer Part Number: 28139
• Description: KIT REMOTE IR FOR BOE-BOT W/TEXT
• Manufacturer: Parallax Inc

Specifications of 28139

• Accessory Type: IR Remote
• Product: Microcontroller Accessories
• Lead Free Status / RoHS Status: Contains lead / RoHS non-compliant
• For Use With/related Products: Boe-Bot®
• Lead Free Status / RoHS Status: Lead free / RoHS Compliant, Contains lead / RoHS non-compliant

√
√
√
√
Add these constant declarations to the Constants section of the program:
' Boe-Bot proportional control constants (from FollowingBoeBot.bs2).
Kpl
Kpr
SetPoint
CenterPulse
Copy these variable declarations from FollowingBoeBot.bs2, and paste them
into IrMultiBot.bs2's Variables section.
' Boe-Bot navigation variables (from FollowingBoeBot.bs2).
freqSelect
irFrequency
irDetectLeft
irDetectRight
distanceLeft
distanceRight
pulseLeft
pulseRight
Add two more variable declarations for IrMultiBot.bs2 functions.
' IrMultiBot.bs2 variables.
counter
operation
Add these two subroutines to the end of the program:
' -----[ Subroutine – Get_IR_Distances ]-------------------------------
Get_Ir_Distances:
distanceLeft = 0
distanceRight = 0
FOR freqSelect = 0 TO 4
NEXT
RETURN
LOOKUP freqSelect,[37500,38250,39500,40500,41500], irFrequency
FREQOUT 8,1,irFrequency
irDetectLeft = IN9
distanceLeft = distanceLeft + irDetectLeft
FREQOUT 2,1,irFrequency
irDetectRight = IN0
distanceRight = distanceRight + irDetectRight
CON
CON
CON
CON
VAR
VAR
VAR
VAR
VAR
VAR
VAR
VAR
VAR
VAR
-35
35
2
750
Nib
Word
Bit
Bit
Nib
Nib
Word
Word
Nib
Nib
' <--- New
' <--- New