Sumobot Motion Control - Parallax Boe-Bot Assembly

SUMOBOT MOTION CONTROL

The next task is to link the SumoBot robot's ability to "see" with the motors so that an
object – the opponent – can be tracked.
demonstration of linking IR object control to the SumoBot motors.
' SumoBot_4.2_IR_Scan.BS2
' {$STAMP BS2}
' {$PBASIC 2.5}
' -----[ I/O Definitions ]-------------------------------------------------
LMotor PIN
RMotor PIN
LfIrOut PIN
LfIrIn PIN
RtIrOut PIN
RtIrIn PIN
' -----[ Constants ]-------------------------------------------------------
LFwdFast CON
LFwdSlow CON
LStop CON
LRevSlow CON
LRevFast CON
RFwdFast CON
RFwdSlow CON
RStop CON
RRevSlow CON
RRevFast CON
' -----[ Variables ]-------------------------------------------------------
irBits VAR
irLeft VAR
irRight VAR
lastIr VAR
pulses VAR
' -----[ Initialization ]--------------------------------------------------
Reset:
LOW LMotor
LOW RMotor
' -----[ Program Code ]----------------------------------------------------
Chapter 4: Infrared Object Detection · Page 41
Load and run program 4.2 to see a
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Nib
irBits.BIT1
irBits.BIT0
Nib
Byte
' left servo motor
' right servo motor
' left IR LED output
' left IR sensor input
' right IR LED output
' right IR sensor input
' left motor fwd; fast
' left motor fwd; slow
' left motor stop
' left motor rev; slow
' left motor rev; fast
' right motor fwd; fast
' right motor fwd; slow
' right motor stop
' right motor rev; slow
' right motor rev; fast
' storage for IR target data
' info from last reading
' counter for motor control
' initialize motor outputs