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Off_Line:
lfBits = lastBits
GOTO Steer_Robot
Hard_Right:
PULSOUT LMotor, MStop + Speed100
PULSOUT RMotor, MStop + Speed100
GOTO Save_Last
Right:
PULSOUT LMotor, MStop + Speed100
PULSOUT RMotor, MStop
GOTO Save_Last
Straight:
PULSOUT LMotor, MStop + Speed100
PULSOUT RMotor, MStop - Speed100
GOTO Save_Last
Left:
PULSOUT LMotor, MStop
PULSOUT RMotor, MStop - Speed100
GOTO Save_Last
Hard_Left:
PULSOUT LMotor, MStop - Speed100
PULSOUT RMotor, MStop - Speed100
GOTO Save_Last
Notes:
Parallax, Inc. • Parallax Line Follower (#29115) • 12/2001
' get last known position
' full speed on left
' reverse right motor
' full speed on left
' both motors forward
' full speed on right
' reverse left motor
' full speed on right
Page 17
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