Parallax Boe-Bot - Page 246

Page 232 · Robotics with the Boe-Bot
' -----[ Title ]----------------------------------------------------------
' Robotics with the Boe-Bot - TestBlackWhiteLogic.bs2
' Calculate whether Boe-Bot is over black or white surface, and print.
' {$STAMP BS2} ' Stamp directive
' {$PBASIC 2.5} ' PBASIC directive.
' -----[ Constants ]------------------------------------------------------
LeftWhite CON 16
RightWhite CON 33
LeftBlack CON 26
RightBlack CON 45
LeftAvg CON LeftWhite + LeftBlack / 2
RightAvg CON RightWhite + RightBlack / 2
' -----[ Variables ]------------------------------------------------------
timeLeft VAR Word ' Left photoresistor reading
timeRight VAR Word ' Right photoresistor reading
' -----[ Main Routine ]---------------------------------------------------
DO
GOSUB Test_Photoresistors
IF (timeLeft > LeftAvg) THEN
DEBUG CRSRXY, 0, 0, "Left Black "
ELSE
DEBUG CRSRXY, 0, 0, "Left White "
ENDIF
IF (timeRight > RightAvg) THEN
DEBUG CRSRXY, 13, 0, "Right Black", CR
ELSE
DEBUG CRSRXY, 13, 0, "Right White", CR
ENDIF
LOOP
' -----[ Subroutine - Test_Photoresistors ]-------------------------------
Test_Photoresistors:
HIGH 6 ' Left RC time Measurement.
PAUSE 3
RCTIME 6,1,timeLeft
HIGH 3 ' Right RC time measurement.
PAUSE 3
RCTIME 3,1,timeRight
RETURN
To develop a program that makes the Boe-Bot avoid the black sheets of paper,
the decision and navigation steps required are very similar to