27403 Parallax Inc, 27403 Datasheet - Page 164

• 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

' -----[ Title ]--------------------------------------------------------------
' Applied Robotics with the SumoBot - FrontIrNavigation.bs2
' When it sees an object with only one object detecting eye, it corrects
' it's heading until it sees the object with both eyes.
' {$STAMP BS2}
' {$PBASIC 2.5}
' -----[ I/O Definitions ]---------------------------------------------------
ServoLeft
ServoRight
IrLedLS
IrSenseLS
IrLedLF
IrSenseLF
IrLedRF
IrSenseRF
IrLedRS
IrSenseRS
' -----[ Constants ]----------------------------------------------------------
' SumoBot maneuvers
Forward
Backward
RotateLeft
RotateRight
PivotLeft
PivotRight
CurveLeft
CurveRight
' Servo pulse width rotations
FS_CCW
FS_CW
NO_ROT
LS_CCW
LS_CW
' IR object detectors
IrFreq
' -----[ Variables ]----------------------------------------------------------
PIN
PIN
PIN
PIN
PIN
PIN
PIN
PIN
PIN
PIN
CON
CON
CON
CON
CON
CON
CON
CON
CON
CON
CON
CON
CON
CON
13
12
2
1
4
11
15
14
3
0
0
1
2
3
4
5
6
7
850
650
750
770
730
38500
' Target = BASIC Stamp 2
' Language = PBASIC 2.5
' Left servo connected to P13
' Right servo connected to P12
' Left IR LED connected to P2
' Left IR detector to P1
' Left IR LED connected to P4
' Left IR detector to P11
' Right IR LED connected to P15
' Right IR detector to P14
' Right IR LED connected to P3
' Right IR detector to P0
' Forward
' Backward
' RotateLeft
' RotateRight
' Pivot to the left
' Pivot to the right
' Curve to the left
' Curve to the right
' Full speed counterclockwise
' Full speed clockwise
' No rotation
' Low speed counterclockwise
' Low speed clockwise
' IR LED frequency