Parallax Boe-Bot Assembly page 56

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