Parallax Boe-Bot Assembly page 41

RStop CON
RRevSlow CON
RRevFast CON
' -----[ Variables ]-------------------------------------------------------
lLine VAR
rLine VAR
lineBits VAR
lbLeft VAR
lbRight VAR
pulses VAR
temp VAR
' -----[ EEPROM Data ]-----------------------------------------------------
RunStatus DATA
' -----[ Initialization ]--------------------------------------------------
Reset:
READ RunStatus, temp
temp = ~temp
WRITE RunStatus, temp
IF (temp > 0) THEN END
Start_Delay:
HIGH StartLED
PAUSE 5000
LOW StartLED
' -----[ Program Code ]----------------------------------------------------
Main:
GOSUB Read_Line_Sensors
' sumo movement
BRANCH lineBits, [Go_Fwd, Spin_Left, Spin_Right, About_Face]
Go_Fwd:
PULSOUT LMotor, LFwdFast
PULSOUT RMotor, RFwdFast
GOTO Main
Spin_Left:
FOR pulses = 1 TO 20
PULSOUT LMotor, LRevFast
PULSOUT RMotor, RFwdFast
PAUSE 20
NEXT
Chapter 3: SumoBot Sensors and Border Detection · Page 31
750
800
1000
Word
Word
Nib
lineBits.BIT1
lineBits.BIT0
Byte
Byte
$00
' right motor stop
' right motor rev; slow
' right motor rev; fast
' left sensor raw reading
' right sensor raw reading
' decoded sensors value
' counter for motor control
' run status
' read current status
' invert status
' save for next reset
' run now?
' show active
' start delay
' LED off