Chapter 2: SumoBot Locomotion · Page 17
LRevFast CON 500 ' left motor rev; fast
RFwdFast CON 500 ' right motor fwd; fast
RFwdSlow CON 700 ' right motor fwd; slow
RStop CON 750 ' right motor stop
RRevSlow CON 800 ' right motor rev; slow
RRevFast CON 1000 ' right motor rev; fast
' -----[ Variables ]-------------------------------------------------------
pulses VAR Byte ' servo pulses counter
' -----[ Initialization ]--------------------------------------------------
Reset:
LOW LMotor ' initialize motor outputs
LOW RMotor
PAUSE 2000 ' time to disconnect cable
' -----[ Program Code ]----------------------------------------------------
Main:
FOR pulses = 1 TO 65 ' fwd slow, ~12 inches
PULSOUT LMotor, LFwdSlow
PULSOUT RMotor, RFwdSlow
PAUSE 20
NEXT
FOR pulses = 1 TO 30 ' pivot 90 on left wheel
PULSOUT LMotor, LStop
PULSOUT RMotor, RFwdSlow
PAUSE 20
NEXT
FOR pulses = 1 TO 25 ' fwd fast
PULSOUT LMotor, LFwdFast
PULSOUT RMotor, RFwdFast
PAUSE 20
NEXT
FOR pulses = 1 TO 60 ' pivot 180 on right wheel
PULSOUT LMotor, LFwdSlow
PULSOUT RMotor, RStop
PAUSE 20
NEXT
FOR pulses = 1 TO 50 ' fwd fast
PULSOUT LMotor, LFwdFast
PULSOUT RMotor, RFwdFast
PAUSE 20
NEXT
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