Build Your Own Combat Robot

296 Build Your Own Combat Robot
b2 = b0 + b1 'to turn. If both detectors return
if b2 < 5 then main 'equal values, then go straight,
if b0 < b1 then left 'otherwise turn in the direction that
if b1 < b0 then right 'had the stronger return probability.
goto main 'i.e. a lower hit number.
left: 'Make a small left turn move
pulsout 0, 200 'Send a 2 ms pulse to the right servo
pulsout 1, 200 'Send a 2 ms pulse to the left servo
pause 15 'Pause for 15 ms. This delay sets up
goto main 'the ~50 Hz servo update frequency
right: 'Make a small right turn move
pulsout 0, 100
pulsout 1, 100
pause 15
goto main
Rturn: 'This is the Right Turn Routine.
gosub back 'Call the back up routine.
for b2 = 1 to 30 'This loop determines how much the
pulsout 0, 100 'mini sumo turns. Increasing the
pulsout 1, 100 'loop value (30) causes the mini
pause 15 'sumo to turn more to the right,
next 'decreasing this value decreases
goto main 'the amount the mini sumo turns.
Lturn: 'This is the Left Turn Routine.
gosub back
for b2 = 1 to 30
pulsout 0, 200
pulsout 1, 200
pause 15
next
goto main
back: 'This is the back up routine
for b2 = 1 to 25 'This loop determines how far the mini
pulsout 0, 200 'sumo will back up. Increasing the
pulsout 1, 100 'loop value (25) will increase the
pause 15 'overall distance. Decreasing the
next 'value will cause the mini sumo to
return 'back up less.