28139 Parallax Inc, 28139 Datasheet - Page 131

• Manufacturer Part Number: 28139
• Description: KIT REMOTE IR FOR BOE-BOT W/TEXT
• Manufacturer: Parallax Inc

Specifications of 28139

• Accessory Type: IR Remote
• Product: Microcontroller Accessories
• Lead Free Status / RoHS Status: Contains lead / RoHS non-compliant
• For Use With/related Products: Boe-Bot®
• Lead Free Status / RoHS Status: Lead free / RoHS Compliant, Contains lead / RoHS non-compliant

The completed program is shown below in case you need to check it for trouble-shooting.
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LOOP
Build, save, and run IrMultiBot.bs2.
Test the CH+/- , VOL+/- , and numeric keys and verify that it runs properly.
Press/release the POWER button. The Boe-Bot should beep twice.
Press/release the 2 key.
ENDSELECT
' If operation is 3, execute the following Boe-Bot routine.
CASE 3
IF IN9 = 0 THEN operation = 1
FREQOUT 8, 1, 38500
irDetectLeft = IN9
FREQOUT 2, 1, 38500
irDetectRight = IN0
IF (irDetectLeft = 0) AND (irDetectRight = 0) THEN
ELSEIF (irDetectLeft = 0) THEN
ELSEIF (irDetectRight = 0) THEN
ELSE
ENDIF
GOSUB Send_Pulse
IF IN9 = 0 THEN operation = 1
GOSUB Get_Ir_Distances
' Calculate proportional output.
pulseLeft =
pulseRight = SetPoint - distanceRight * Kpr + CenterPulse
GOSUB Send_Pulse
pulseLeft = 650
pulseRight = 850
pulseLeft = 850
pulseRight = 850
pulseLeft = 650
pulseRight = 650
pulseLeft = 850
pulseRight = 650
SetPoint - distanceLeft
* Kpl + CenterPulse
' <--- New.
' Check IR Detectors
' <--- Modified.
' <--- New
' <--- New
' <--- New
'(End SELECT operation)
' Repeat Main Routine.
' Decide how to navigate.