122-27400 Parallax Inc, 122-27400 Datasheet - Page 36

• Manufacturer Part Number: 122-27400
• Description: MANUAL FOR SUMOBOT
• Manufacturer: Parallax Inc

Specifications of 122-27400

• 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

Page 26 · SumoBot – Mini Sumo Robotics
Don't worry about small discrepancies between the QTI values over the same color – this
is due to minor variations in components and won't adversely affect the SumoBot robot’s
performance.
For convenience in a competition program, the QTI code should be moved into a
subroutine that can be called from any point in the program. The routine should also be
developed to return either a True (1) or False (0) value if the QTI is over the Sumo ring
border. To see this in action, load and run program 3.2.
' Mini_Sumo_3.2_Line_Sensor_Read.BS2
' {$STAMP BS2}
' {$PBASIC 2.5}
' -----[ I/O Definitions ]-------------------------------------------------
LLinePwr
LLineIn
RLinePwr
RLineIn
' -----[ Variables ]-------------------------------------------------------
lLine
rLine
lineBits
PIN
PIN
PIN
PIN
VAR
VAR
VAR
Figure 3.2: QTI Test Program Output
10
Word
Word
Nib
9
7
8
' left line sensor power
' left line sensor input
' right line sensor power
' right line sensor input
' left sensor raw reading
' right sensor raw reading
' decoded sensors value