Chapter 8: Robot Control with Distance Detection · Page 299
PAUSE 20
NEXT
ENDIF
' That's it. At this point the Boe-Bot should have turned 90 degrees
' to follow the intersection. Continue following the black line.
RETURN
Check_For_Intersection:
' Keep track of no. of pulses vs the forward pulses. If there are less
' than 30 forward pulses per total of 60 pulses, robot is likely stuck
' at an intersection.
isStuck = 0 ' Initialze Boolean variable
numPulses = numPulses + 1 ' Count total pulses sent
SELECT numPulses
CASE < 60
IF (pulseLeft > CenterPulse) THEN
fwdPulses = fwdPulses + 1 ' Count foward pulses
ENDIF ' (forward is any pulse > 750)
CASE = 60 ' If we have sent 60 pulses
IF (fwdPulses < 30) THEN ' how many were forward?
isStuck = 1 ' If < 30, robot is stuck
ENDIF
CASE > 60
numPulses = 0 ' Reset counters back to zero
fwdPulses = 0 ' (Could reset in =60 case but
ENDSELECT ' it spoils cool Make_Noise)
RETURN
Make_Noise:
' Makes an increasing tone, proportional to number of forward pulses
FOR counter = 1 TO fwdPulses STEP 3
FREQOUT 4, 100, 3800 + (counter * 10)
NEXT
RETURN
Update_LEDs:
' Use LEDs to indicate whether detectors are seeing black or white.
' White = Off, Black = On. Black is a distance reading > or = 4 .
IF (distanceLeft >= 4) THEN HIGH LeftLED ELSE LOW LeftLED
IF (distanceRight >= 4) THEN HIGH RightLED ELSE LOW RightLED
RETURN
Stop_Quickly:
' This stops the wheels so the Boe-Bot does not "coast" forward.
PULSOUT 13, 750
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