27403 Parallax Inc, 27403 Datasheet - Page 247

• 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

#ENDIF
' -----[ Initialization ]-----------------------------------------------------
GOSUB Reset
GOSUB Start_Delay
GOSUB Calibrate_Qtis
#IF DEBUG_MODE = 1 OR DATALOG_MODE = 2 #THEN
#ENDIF
#IF DATALOG_MODE = 2 #THEN
#ENDIF
GOSUB Look_About
' -----[ Main Routine ]-------------------------------------------------------
DO
LOOP
#IF DATALOG_MODE = 2 #THEN
DEBUG CLS,
GOTO Playback_Round
IF qtiLF = 1 THEN
ELSEIF qtiRF = 1 THEN
ELSEIF irLF = 1 AND irRF = 1 THEN
ELSEIF irLF = 1 THEN
ELSEIF irRF = 1 THEN
ELSEIF irLS = 1 THEN
ELSEIF irRS = 1 THEN
ELSE
ENDIF
Playback_Round:
GOSUB Avoid_Tawara_Left
GOSUB Avoid_Tawara_Right
GOSUB Go_Forward
GOSUB Track_Front_Left_Object
GOSUB Track_Front_Right_Object
GOSUB Track_Side_Left_Object
GOSUB Track_Side_Right_Object
GOSUB Search_Pattern
FOR logIndex = 0 TO MaxBytes STEP 2
READ LogData + logIndex, Word temp
"Sensors
"--------
State
--------
Maneuver", CR,
--------", CR
' Wait for Reset press/release
' 5 Second delay
' Determine b/w threshold
' Display table heading
' Alternate main routine
' Was Goto Look_About
' Left qti sees line?
' State = avoid left tawara
' Right qti sees line?
' State = avoid right tawara
' Both? Lunge forward
' State = Go forward
' Just left?
' State = Track front left obj.
' Just right?
' State = Track front right obj.
' Left side?
' State = track side left obj.
' Right side?
' State = track side right obj.
' Nothing sensed?
' State = Search pattern
' Loop gets all records
' Get record