27403 Parallax Inc, 27403 Datasheet - Page 191

• 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 - TestSumoWrestler.bs2
' Fully functional state machine based sumo wrestling program
' with peripheral vision.
' {$STAMP BS2}
' {$PBASIC 2.5}
' -----[ I/O Definitions ]---------------------------------------------------
ServoLeft
ServoRight
qtiPwrLeft
qtiSigLeft
qtiPwrRight
qtiSigRight
DummyPin
LedSpeaker
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
PIN
PIN
PIN
PIN
PIN
PIN
PIN
PIN
PIN
PIN
PIN
PIN
PIN
PIN
PIN
PIN
CON
CON
CON
CON
CON
CON
CON
CON
CON
13
12
10
9
7
8
6
5
2
1
4
11
15
14
3
0
0
1
2
3
4
5
6
7
850
' Target = BASIC Stamp 2
' Language = PBASIC 2.5
' Left servo connected to P13
' Right servo connected to P12
' Left QTI on/off pin P10
' Left QTI signal pin P9
' Right QTI on/off pin P7
' Right QTI signal pin P8
' I/O pin for pulse-decay P6
' LED & speaker connected to P5
' 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