Page 250 · Robotics with the Boe-Bot
irDetectLeft = IN9
The IF…THEN statements were modified so that they look at the variables that store the IR
pair detections instead of the whisker inputs.
IF (irDetectLeft = 0) AND (irDetectRight = 0) THEN
GOSUB Back_Up
GOSUB Turn_Left
GOSUB Turn_Left
ELSEIF (irDetectLeft = 0) THEN
GOSUB Back_Up
GOSUB Turn_Right
ELSEIF (irDetectRight = 0) THEN
GOSUB Back_Up
GOSUB Turn_Left
ELSE
GOSUB Forward_Pulse
ENDIF
Example Program – RoamingWithIr.bs2
√ Open RoamingWithWhiskers.bs2
√ Modify it so that it matches the program below.
√ Reconnect power to your board and servos.
√ Save and run it.
√ Verify that, aside from the fact that there’s no contact required, it behaves like
RoamingWithWhiskers.bs2.
' -----[ Title ]--------------------------------------------------------------
' Robotics with the Boe-Bot - RoamingWithIr.bs2
' Adapt RoamingWithWhiskers.bs2 for use with IR pairs.
' {$STAMP BS2} ' Stamp directive.
' {$PBASIC 2.5} ' PBASIC directive.
DEBUG "Program Running!"
' -----[ Variables ]----------------------------------------------------------
irDetectLeft VAR Bit
irDetectRight VAR Bit
pulseCount VAR Byte
' -----[ Initialization ]-----------------------------------------------------
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