122-27400 Parallax Inc, 122-27400 Datasheet - Page 52

• 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 42 · SumoBot – Mini Sumo Robotics
Main:
Scan:
Move_Fwd:
Scan_Right:
Scan_Left:
Follow_Right:
Follow_Left:
Hold:
GOSUB Read_IR_Sensors
BRANCH irBits, [Scan, Follow_Right, Follow_Left, Hold]
BRANCH lastIR, [Move_Fwd, Scan_Right, Scan_Left, Move_Fwd]
DEBUG HOME, "Forward", CLREOL
GOTO Main
DEBUG HOME, "Scan Right", CLREOL
PULSOUT LMotor, LFwdSlow
PULSOUT RMotor, RRevSlow
PAUSE 20
GOTO Main
DEBUG HOME, "Scan Left", CLREOL
PULSOUT LMotor, LRevSlow
PULSOUT RMotor, RFwdSlow
PAUSE 20
GOTO Main
DEBUG HOME, "Follow Right", CLREOL
PULSOUT LMotor, LFwdFast
PULSOUT RMotor, RRevFast
PAUSE 20
lastIr = irBits
GOTO Main
DEBUG HOME, "Follow Left", CLREOL
PULSOUT LMotor, LRevFast
PULSOUT RMotor, RFwdFast
PAUSE 20
lastIr = irBits
GOTO Main
DEBUG HOME, "On Target", CLREOL
FOR pulses = 1 TO 3
NEXT
lastIr = %00
GOTO Main
PULSOUT LMotor, LStop
PULSOUT RMotor, RStop
PAUSE 20
' spin right, slow
' spin left, slow
' spin right, fast
' save last direction found
' spin left, fast
' on target