27403 Parallax Inc, 27403 Datasheet - Page 167

• 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 Main Routine below incorporates this code for both sides, and is a drop-in
replacement for the main routine in FrontIrNavigation.bs2.
' -----[ Main Routine ]-------------------------------------------------------
DO
IF irLF = 1 AND irRF = 1 THEN
ELSEIF irLF = 1 THEN
ELSEIF irRF = 1 THEN
√
√
√
maneuver = Forward
GOSUB Servos_And_Sensors
counter = 0
DO UNTIL (irLF = 1 AND irRF = 1) OR counter > 15
LOOP
DO UNTIL (irLF = 1 AND irRF = 1) OR counter > 30
LOOP
counter = 0
DO UNTIL (irLF = 1 AND irRF = 1) OR counter > 15
LOOP
DO UNTIL (irLF = 1 AND irRF = 1) OR counter > 30
maneuver = CurveLeft
GOSUB Servos_And_Sensors
counter = counter + 1
maneuver = RotateLeft
GOSUB Servos_And_Sensors
counter = counter + 1
maneuver = CurveRight
GOSUB Servos_And_Sensors
counter = counter + 1
maneuver = RotateRight
Save FrontIrNavigation.bs2 as FrontIrNavigationYourTurn.bs2.
Replace the Main Routine in the program with the one shown below.
Test the program and note the differences in the way the SumoBot faces and
lunges toward your hand.
ELSEIF irLF = 1 THEN
DO UNTIL (irLF = 1 AND irRF = 1) OR counter > 15
LOOP
DO UNTIL (irLF = 1 AND irRF = 1) OR counter > 30
LOOP
maneuver = CurveLeft
GOSUB Servos_And_Sensors
counter = counter + 1
maneuver = RotateLeft
GOSUB Servos_And_Sensors
counter = counter + 1
' Both?
' State = Lunge forward
' Just left?
' State = track front left object
' Curve left 15
' Rotate left 30
' Just right?
' State=track front right object
' Curve right 15
' Rotate right 30
' Just left?
' Curve left 15
' Rotate left 30