Build Your Own Combat Robot

'again. If the mini sumo sees an object in front of it, it will turn towards
'the object.
'pin0 = Right Servo These pin(s) are I/O pins, not
'pin1 = Left Servo physical pins on the Stamp 1
'pin2 = Right Edge Detector
'pin3 = Left Edge Detector
'pin5 = Left Opponent Detector LED
'pin6 = Right Opponent Detector LED
'pin7 = IR Receiver Sensor
dirs=%01100011 'Initialize the I/O pin directions pin0, pin1,
' pin5, pin6 are outputs
pause 5000 'Pause 5000 ms (or 5 seconds)
main: 'Main Program Loop
if pin2 = 0 then Lturn 'Check right edge detector, if the detector sees the
' white line, then goto the left turn routine.
if pin3 = 0 then rturn 'Check right edge detector, if the detector sees the
goto main
' white line, then goto the right turn routine.
pulsout 0,100 'Send a 1 ms pulse to the right servo
pulsout 1,200 'Send a 2 ms pulse to the left servo
b0 = 0 'Sample the left object detector for
for b2 = 1 to 5 '5 times by toggling the IR LED on/off
pin5 = 1 'The output pin will be high if there
pin5 = 0 'is no reflected signal. If b0 (or b1)
b0 = b0 + pin7 'is less than 3 then over 50% of the
next 'signals returned back to the receiver.
'This gives a good indication that
pulsout 0, 100 'an object was detected, and a
pulsout 1, 200 'less chance that the signals were
b1 = 0 'random noise or false signals
for b2 = 1 to 5
pin6 = 1
pin6 = 0
b1 = b1 + pin7
next
if b0 < 3 then turn 'If a positive object detection was obtained, then
if b1 < 3 then turn 'goto the turn routine
turn: 'This routine determines which direction
Chapter 13: Robot Sumo 295