Page 244 · Robotics with the Boe-Bot
√ Verify that the speaker makes a clear, audible tone while the Debug Terminal
displays “Testing piezospeaker…”.
√ Use the Debug Terminal to verify that the BASIC Stamp still receives a zero
from each IR detector when an object is placed in front of it.
√ Verify that the LED next to each detector emits light when the detector detects
an object. If one or both of the LEDs appear not to work, check your wiring and
your program.
' Robotics with the Boe-Bot - TestIrPairsAndIndicators.bs2
' Test IR object detection circuits.
' {$STAMP BS2} ' Stamp directive.
' {$PBASIC 2.5} ' PBASIC directive.
' -----[ Variables ]----------------------------------------------------------
irDetectLeft VAR Bit
irDetectRight VAR Bit
' -----[ Initialization ]-----------------------------------------------------
DEBUG "Testing piezospeaker..."
FREQOUT 4, 2000, 3000
DEBUG CLS,
"IR DETECTORS", CR,
"Left Right", CR,
"----- -----"
' -----[ Main Routine ]-------------------------------------------------------
DO
FREQOUT 8, 1, 38500
irDetectLeft = IN9
FREQOUT 2, 1, 38500
irDetectRight = IN0
IF (irDetectLeft = 0) THEN
HIGH 10
ELSE
LOW 10
ENDIF
IF (irDetectRight = 0) THEN
HIGH 1
ELSE
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