27403 Parallax Inc, 27403 Datasheet - Page 155

• 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 servo control subroutine will send pulse values to the servos. Constants for full
speed counterclockwise (
(
Here is the
by a constant declaration (
Pulse_Servos
the lookup table, and copies it to the
FS_CCW
servo, which is connected to P13. It's equivalent to
LOOKUP
variable. So
makes the right servo turn full speed clockwise.
If
to the
for the
FS_CW
RotateRight
commands send 850 to the servos.
NO_ROT)
maneuver
temp
is copied to
FS_CCW
FS_CW
NO_ROT
' -----[ Subroutine - Pulse_Servos ]-----------------------------------
Pulse_Servos:
PULSOUT ServoRight, temp
(850) to
and
will make the subroutine easier to write.
' Pulse to left servo
LOOKUP maneuver, [FS_CCW, FS_CW, FS_CW, FS_CCW], temp
PULSOUT ServoLeft, temp
' Pulse to right servo
LOOKUP maneuver, [FS_CW, FS_CCW, FS_CW, FS_CCW], temp
PULSOUT ServoRight, temp
' Pause between pulses (remove when using IR object detectors + QTIs)
PAUSE 20
RETURN
Pulse_Servos
variable for the
is set equal to the constant
PULSOUT
PULSOUT ServoRight, temp
(3),
subroutine is called, the
temp
FS_CCW
temp
. Then
commands in the subroutine place
CON
CON
CON
Forward CON 0
FS_CCW
subroutine. Remember that
PULSOUT ServoLeft, temp
for both
gets copied to both
PULSOUT ServoLeft, temp
850
650
750
), full speed clockwise (
temp
PULSOUT
Backward
LOOKUP
command. If
). If maneuver is set to
variable. The first lookup command copies
is equivalent to
commands.
command takes the zeroth element in
, the
' Full speed counterclockwise
' Full speed clockwise
' No rotation
temp
PULSOUT 13, 850
LOOKUP
Forward
maneuver
command, and
variables, and the
FS_CCW
sends that pulse to the left
PULSOUT 12, 650
FS_CW
Finally, if
command copies
is a constant, set to 0
Forward
is
), and no rotation
(650) into the
RotateLeft
FS_CCW
. The second
maneuver
before the
PULSOUT
to
, which
FS_CW
temp
temp
(2),
is