27404 Parallax Inc, 27404 Datasheet - Page 196

• 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 - Read_Object_Detectors ]---------------------------------
Read_Object_Detectors:
' -----[ Subroutine - Read_Line_Sensors ]-------------------------------------
Read_Line_Sensors:
' 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
' Pause between pulses (remove when using IR object detectors + QTIs).
' PAUSE 20
RETURN
FREQOUT IrLedRS, 1, IrFreq
irRS = ~IrSenseRS
FREQOUT IrLedRF, 1, IrFreq
irRF = ~IrSenseRF
FREQOUT IrLedLF, 1, IrFreq
irLF = ~IrSenseLF
FREQOUT IrLedLS, 1, IrFreq
irLS = ~IrSenseLS
RETURN
HIGH qtiPwrLeft
HIGH qtiPwrRight
HIGH qtiSigLeft
HIGH qtiSigRight
PAUSE 1
READ QtiThresh, Word temp
INPUT qtiSigLeft
INPUT qtiSigRight
PULSOUT DummyPin, temp
NO_ROT, FS_CCW, LS_CCW, FS_CCW ], temp
FS_CW, NO_ROT, FS_CW, LS_CW ], temp
' Right side IR LED headlight
' Save right side IR receiver
' Repeat for right-front
' Repeat for left-front
' Repeat for left side
' Turn on QTIs
' Push signal voltages to 5 V
' Wait 1 ms for capacitors
' Get threshold time
' Start the decays
' Wait threshold time