27403 Parallax Inc, 27403 Datasheet - Page 172

• 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

LOOP
' -----[ Subroutine - Servos_And_Sensors ]------------------------------------
Servos_And_Sensors:
IF irLF = 1 AND irRF = 1 THEN
ELSEIF irLF = 1 THEN
ELSEIF irRF = 1 THEN
ELSEIF irLS = 1 THEN
ELSEIF irRS = 1 THEN
ELSE
ENDIF
GOSUB Pulse_Servos
' Call sensor subroutine(s).
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
LOOP
DO UNTIL irRF = 1 OR irLF = 1
LOOP
DO UNTIL irRF = 1 OR irLF = 1
LOOP
GOSUB Read_Object_Detectors
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
GOSUB Servos_And_Sensors
counter = counter + 1
maneuver = RotateLeft
GOSUB Servos_And_Sensors
maneuver = RotateRight
GOSUB Servos_And_Sensors
' 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
' Object left side?
' State = track left side object
' Rotate left
' Object right side?
' State = track right side object
' Rotate right
' No objects detected?
' State = search pattern
' Call Pulse_Servos subroutine