122-27400 Parallax Inc, 122-27400 Datasheet - Page 36
122-27400
Manufacturer Part Number
122-27400
Description
MANUAL FOR SUMOBOT
Manufacturer
Parallax Inc
Datasheet
1.27400.pdf
(77 pages)
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
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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
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