Parallax Boe-Bot Assembly page 25

' SumoBot_2.1_Motor_Align.BS2
' {$STAMP BS2}
' {$PBASIC 2.5}
' -----[ I/O Definitions ]-------------------------------------------------
LMotor PIN
RMotor PIN
' -----[ Constants ]-------------------------------------------------------
LStop CON
RStop CON
' -----[ Initialization ]--------------------------------------------------
Reset:
LOW LMotor
LOW RMotor
' -----[ Program Code ]----------------------------------------------------
Main:
DO
PULSOUT LMotor, LStop
PULSOUT RMotor, RStop
PAUSE 20
LOOP
END
Move the SumoBot power switch to position 2, and then download the code using the
Run command from the Run menu, or by pressing the ► button on the toolbar. As soon
as the program is downloaded, watch for wheel movement. If either motor turns, insert a
small screwdriver into the adjustment port of the servo and adjust the centering
potentiometer until the motor stops.
adjustment ports.
13
12
750
750
Figure 2.5 shows the location of the servo
Chapter 2: SumoBot Locomotion · Page 15
' left servo motor
' right servo motor
' left motor stop
' right motor stop
' initialize motor outputs
' stop left
' stop right