27404 Parallax Inc, 27404 Datasheet - Page 141

• 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

DO
LOOP
' -----[ Subroutine - Calibrate_Qtis ]----------------------------------------
Calibrate_Qtis:
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'
GOSUB Read_Line_Sensors
GOSUB Read_Object_Detectors
GOSUB Read_Pushbutton
DEBUG CRSRXY, 0, 4, BIN8 sensors
PAUSE 100
HIGH qtiPwrLeft
HIGH qtiSigLeft
PAUSE 1
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
RCTIME qtiSigRight, 1, qtiRight
qtiThreshold = (qtiLeft + qtiRight) / 2
qtiThreshold = qtiThreshold / 4
IF threshold > 220 THEN
ELSE
ENDIF
RCTIME qtiSigLeft, 1, qtiLeft
multi = multi - 220
multi = 0
threshold = threshold - 220
threshold = 0
' DO...LOOP repeats indefinitely
' Look for lines
' Look for objects
' Check pushbutton
' Display Sensors Variable
' Delay for slower PCs
' Turn left QTI on
' Discharge capacitor
' <--- New measure charge time
' Turn left QTI off
' <--- Add
' Turn right QTI on
' Discharge capacitor
' <--- New measure charge time
' <--- New calculate average
' <--- New take 1/4 average
' <--- New
' <--- New
' <--- New
' <--- New
' <--- New
' Measure charge time
' Measure charge time
' Calculate average
' Take 1/4 average
' Account for code overhead