Chapter 8: Robot Control with Distance Detection · Page 275
so that they read
FREQOUT 2,1, irFrequency
irDetect = IN0
√ Modify TestLeftFrequencySweep.bs2 for testing the distance measurement of
the right IR LED/detector pair.
√ Run the program and verify that this pair can measure a similar distance.
Displaying Both Distances
It’s useful at times to have a quick program you can run to test both the Boe-Bot’s
distance detectors at the same time. This program is organized into subroutines, which
can be handy for copying and pasting into other programs that require distance detection.
Example Program – DisplayBothDistances.bs2
√ Enter, save, and run DisplayBothDistances.bs2.
√ Repeat the distance measurement exercise with a sheet of paper on each LED,
then on both LEDs at the same time.
' -----[ Title ]--------------------------------------------------------------
' Robotics with the Boe-Bot - DisplayBothDistances.bs2
' Test IR detector distance responses of both IR LED/detector pairs to
' frequency sweep.
' {$STAMP BS2} ' Stamp directive.
' {$PBASIC 2.5} ' PBASIC directive.
' -----[ Variables ]----------------------------------------------------------
freqSelect VAR Nib
irFrequency VAR Word
irDetectLeft VAR Bit
irDetectRight VAR Bit
distanceLeft VAR Nib
distanceRight VAR Nib
' -----[ Initialization ]-----------------------------------------------------
DEBUG CLS,
"IR OBJECT ZONE", CR,
"Left Right", CR,
"----- -----"
' -----[ Main Routine ]-------------------------------------------------------
To Next Page
Loading...
