27403 Parallax Inc, 27403 Datasheet - Page 185

• 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 - Calibrate_Qtis ]----------------------------------------
Calibrate_Qtis:
ELSEIF qtiRF = 1 THEN
ELSE
ENDIF
HIGH qtiPwrLeft
HIGH qtiSigLeft
PAUSE 1
RCTIME qtiSigLeft, 1, temp
NEXT
FOR counter = 1 TO 15
NEXT
FOR counter = 1 TO 15
NEXT
FOR counter = 1 TO 15
NEXT
FOR counter = 1 TO 35
NEXT
FOR counter = 1 TO 12
NEXT
FOR counter = 1 TO 24
NEXT
FOR counter = 1 TO 12
NEXT
Next_State:
maneuver = Backward
GOSUB Servos_And_Sensors
maneuver = RotateRight
GOSUB Servos_And_Sensors
maneuver = Backward
GOSUB Servos_And_Sensors
maneuver = RotateLeft
GOSUB Servos_And_Sensors
maneuver = Forward
GOSUB Servos_And_Sensors
IF sensors <> 0 THEN GOTO Next_State
maneuver = RotateRight
GOSUB Servos_And_Sensors
IF sensors <> 0 THEN GOTO Next_State
maneuver = RotateLeft
GOSUB Servos_And_Sensors
IF sensors <> 0 THEN GOTO Next_State
maneuver = RotateRight
GOSUB Servos_And_Sensors
IF sensors <> 0 THEN GOTO Next_State
' Back up
' Turn right
' Right qti sees line?
' State = Avoid tawara right
' Back up
' Turn left
' No objects detected?
' State = search pattern
' Forward
' Look right
' Look left
' Re-align to forward
' Exit point of search pattern
' Turn left QTI on
' Discharge capacitor
' Measure charge time