Page 46 · SumoBot – Mini Sumo Robotics
' SumoBot_5.1_Basic_Competition_Program.BS2
' {$STAMP BS2}
' {$PBASIC 2.5}
' -----[ I/O Definitions ]-------------------------------------------------
LMotor
PIN
RMotor
PIN
LLinePwr
PIN
LLineIn
PIN
RLinePwr
PIN
RLineIn
PIN
LfIrOut
PIN
LfIrIn
PIN
RtIrOut
PIN
RtIrIn
PIN
Speaker
PIN
StartLED
PIN
' -----[ Constants ]-------------------------------------------------------
LFwdFast
CON
LFwdSlow
CON
LStop
CON
LRevSlow
CON
LRevFast
CON
RFwdFast
CON
RFwdSlow
CON
RStop
CON
RRevSlow
CON
RRevFast
CON
' -----[ Variables ]-------------------------------------------------------
lLine
VAR
rLine
VAR
blackThresh
VAR
lineBits
VAR
lbLeft
VAR
lbRight
VAR
irBits
VAR
irLeft
VAR
irRight
VAR
lastIr
VAR
pulses
VAR
13
12
10
9
7
8
4
11
15
14
1
0
1000
800
750
700
500
500
700
750
800
1000
Word
Word
Word
Nib
lineBits.BIT1
lineBits.BIT0
Nib
irBits.BIT1
irBits.BIT0
Nib
Byte
' left servo motor
' right servo motor
' left line sensor power
' left line sensor input
' right line sensor power
' right line sensor input
' left IR LED output
' left IR sensor input
' right IR LED output
' right IR sensor input
' piezo speaker
' display start delay
' 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
' left sensor raw reading
' right sensor raw reading
' QTI black threshold
' decoded sensors value
' IR readings (l & r)
' info from last reading
' counter for motor control
Need help?
Do you have a question about the Boe-Bot and is the answer not in the manual?