122-27400 Parallax Inc, 122-27400 Datasheet - Page 58

• 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 48 · SumoBot – Mini Sumo Robotics
Spin_Right:
About_Face:
' --[ IR Processing ]--
Search_For_Opponent:
Scan:
Move_Fwd:
Scan_Right:
NEXT
lastIr = %00
GOTO Lunge
FOR pulses = 1 TO 20
NEXT
lastIr = %00
GOTO Lunge
FOR pulses = 1 TO 10
NEXT
FOR pulses = 1 TO 30
NEXT
lastIr = %00
GOTO Lunge
GOSUB Read_IR_Sensors
' If opponent is not in view, scan last known direction.
' opponent if seen by one "eye" -- if both, lunge forward
BRANCH irBits, [Scan, Follow_Right, Follow_Left, Lunge]
BRANCH lastIR, [Move_Fwd, Scan_Right, Scan_Left]
GOSUB Creep_Forward
GOTO Main
FOR pulses = 1 TO 5
NEXT
GOSUB Creep_Forward
PULSOUT LMotor, LFwdFast
PULSOUT RMotor, RRevFast
PAUSE 20
PULSOUT LMotor, LRevFast
PULSOUT RMotor, RRevFast
PAUSE 20
PULSOUT LMotor, LFwdFast
PULSOUT RMotor, RRevFast
PAUSE 20
PULSOUT LMotor, LFwdSlow
PULSOUT RMotor, RRevSlow
PAUSE 20
' clear scan direction
' left sensor was active
' both sensors on Shikiri
' back up from edge
' turn around
' spin right, slow
' keep moving
Turn toward