Parallax Boe-Bot - Page 288

Page 274 · Robotics with the Boe-Bot
' -----[ Variables ]----------------------------------------------------------
freqSelect VAR Nib
irFrequency VAR Word
irDetect VAR Bit
distance VAR Nib
' -----[ Initialization ]-----------------------------------------------------
DEBUG CLS,
" OBJECT", CR,
"FREQUENCY DETECTED", CR,
"--------- --------"
' -----[ Main Routine ]-------------------------------------------------------
DO
distance = 0
FOR freqSelect = 0 TO 4
LOOKUP freqSelect,[37500,38250,39500,40500,41500], irFrequency
FREQOUT 8,1, irFrequency
irDetect = IN9
distance = distance + irDetect
DEBUG CRSRXY, 4, (freqSelect + 3), DEC5 irFrequency
DEBUG CRSRXY, 11, freqSelect + 3
IF (irDetect = 0) THEN DEBUG "Yes" ELSE DEBUG "No "
PAUSE 100
NEXT
DEBUG CR,
"--------- --------", CR,
"Zone ", DEC1 distance
LOOP
Your Turn – Testing the Right IR LED/Detector Pair
Although there’s some labeling involved, you can modify this program to test the right IR
LED and detector by changing these two lines:
FREQOUT 8,1, irFrequency
irDetect = IN9