27403 Parallax Inc, 27403 Datasheet - Page 118

• Manufacturer Part Number: 27403
• Description: GUIDE APP ROBOTCS W/SUMOBOT V1.0
• Manufacturer: Parallax Inc

Specifications of 27403

• 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

The last step is to go through the Main Routine and change references to variables from
qtiLeft
be compared to 0 or 1 instead of
has to be changed to
Example Program: QtiPulseDecayTrick.bs2
' -----[ Title ]--------------------------------------------------------------
' Applied Robotics with the SumoBot - QtiPulseDecayTrick.bs2
' This program uses the Pulse-Decay trick to discern between black and white
' with QTI line sensors.
' Important: You must start with the QTIs seeing black.
' {$STAMP BS2}
' {$PBASIC 2.5}
√
√
√
Read_Line_Sensors:
IF qtiLeft < qtiThreshold THEN
IF qtiStateLeft = 0 THEN
Start with your SumoBot parked on the black part of your practice sumo ring.
Enter, save, and run QtiPulseDecayTrick.bs2.
Verify that the Debug Terminal shows that the QTIs report 1 if they are over the
black practice ring surface or 0 if they are over the white tawara line.
and
HIGH qtiPwrLeft
HIGH qtiPwrRight
HIGH qtiSigLeft
HIGH qtiSigRight
PAUSE 1
INPUT qtiSigLeft
INPUT qtiSigRight
PULSOUT DummyPin, qtiThreshold
qtiStateLeft
qtiStateRight = qtiSigRight
LOW qtiPwrLeft
LOW qtiPwrRight
RETURN
qtiRight
to
= qtiSigLeft
qtiStateLeft
threshold
and
. For example:
qtiStateRight
' Target = BASIC Stamp 2
' Language = PBASIC 2.5
' Turn on QTIs
' Push signal voltages to 5 V
' Wait 1 ms for capacitors
' Start the decays
' Wait for threshold time
' Snapshot of QTI signal states
' Turn off QTIS
. The values also have to