122-27400 Parallax Inc, 122-27400 Datasheet - Page 57

• 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

temp
' -----[ EEPROM Data ]-----------------------------------------------------
RunStatus
' -----[ Initialization ]--------------------------------------------------
Reset:
' Sets black threshold to 1/4 the average of the two sensor readings.
' SumoBot must be placed over black playing surface before this code runs.
Set_Threshold:
Start_Delay:
' -----[ Program Code ]----------------------------------------------------
Main:
' --[ Border Avoidance ]--
Spin_Left:
READ RunStatus, temp
temp = ~temp
WRITE RunStatus, temp
IF (temp > 0) THEN END
GOSUB Read_Line_Sensors
blackThresh = (lLine / 10) + (rLine / 10)
LOW LMotor
LOW RMotor
FOR temp = 1 TO 5
NEXT
GOTO Lunge
GOSUB Read_Line_Sensors
' If not on the Shikiri line (border), continue to look for opponent,
' otherwise, spin back toward center and resume search
BRANCH lineBits, [Search_For_Opponent, Spin_Left, Spin_Right, About_Face]
FOR pulses = 1 TO 20
HIGH StartLED
PAUSE 900
INPUT StartLED
FREQOUT Speaker, 100, 2500, 3000
PULSOUT LMotor, LRevFast
PULSOUT RMotor, RFwdFast
PAUSE 20
VAR
DATA
Byte
$00
Chapter 5: Basic Competition Code · Page 47
' run status
' read current status
' invert status
' save for next reset
' okay to run?
' set QTI black threshold
' make more pins outputs
' five second delay
' show active
' blink each second
' beep each second
' start aggressive!
' right sensor was active