https://wiki.robotika.sk/robowiki/index.php?action=history&feed=atom&title=InfraRedNavigation.BS2 2026-04-04T01:01:46Z Revision history for this page on the wiki MediaWiki 1.30.0 https://wiki.robotika.sk/robowiki/index.php?title=InfraRedNavigation.BS2&diff=5608&oldid=prev 2011-02-15T11:47:52Z

<p>New page: &lt;source lang=&quot;basic&quot;&gt; &#039; -----[ Title ]-------------------------------------------------------------- &#039; Robotics with the Boe-Bot - RoamingWithIr.bs2 &#039; Adapt RoamingWithWhiskers.bs2 for use...</p> <p><b>New page</b></p><div>&lt;source lang=&quot;basic&quot;&gt;<br /> ' -----[ Title ]--------------------------------------------------------------<br /> ' Robotics with the Boe-Bot - RoamingWithIr.bs2<br /> ' Adapt RoamingWithWhiskers.bs2 for use with IR pairs.<br /> <br /> ' {$STAMP BS2} ' Stamp directive.<br /> ' {$PBASIC 2.5} ' PBASIC directive.<br /> <br /> DEBUG &quot;Program Running!&quot;<br /> <br /> ' -----[ Variables ]----------------------------------------------------------<br /> <br /> irDetectLeft VAR Bit<br /> irDetectRight VAR Bit<br /> pulseCount VAR Byte<br /> <br /> ' -----[ Initialization ]-----------------------------------------------------<br /> <br /> FREQOUT 4, 2000, 3000 ' Signal program start/reset.<br /> <br /> ' -----[ Main Routine ]-------------------------------------------------------<br /> DO<br /> FREQOUT 8, 1, 38500 ' Store IR detection values in<br /> irDetectLeft = IN9 ' bit variables.<br /> FREQOUT 2, 1, 38500<br /> irDetectRight = IN0<br /> <br /> IF (irDetectLeft = 0) THEN<br /> HIGH 10<br /> ELSE<br /> LOW 10<br /> ENDIF<br /> <br /> IF (irDetectRight = 0) THEN<br /> HIGH 1<br /> ELSE<br /> LOW 1<br /> ENDIF<br /> <br /> IF (irDetectLeft = 0) AND (irDetectRight = 0) THEN<br /> GOSUB Back_Up ' Both IR pairs detect obstacle<br /> GOSUB Turn_Left ' Back up &amp; U-turn (left twice)<br /> GOSUB Turn_Left<br /> ELSEIF (irDetectLeft = 0) THEN ' Left IR pair detects<br /> GOSUB Back_Up ' Back up &amp; turn right<br /> GOSUB Turn_Right<br /> ELSEIF (irDetectRight = 0) THEN ' Right IR pair detects<br /> GOSUB Back_Up ' Back up &amp; turn left<br /> GOSUB Turn_Left<br /> ELSE ' Both IR pairs 1, no detects<br /> GOSUB Forward_Pulse ' Apply a forward pulse<br /> ENDIF ' and check again<br /> LOOP<br /> <br /> <br /> ' -----[ Subroutines ]--------------------------------------------------------<br /> Forward_Pulse: ' Send a single forward pulse.<br /> PULSOUT 13,850<br /> PULSOUT 12,650<br /> PAUSE 20<br /> RETURN<br /> <br /> Turn_Left: ' Left turn, about 90-degrees.<br /> FOR pulseCount = 0 TO 20<br /> PULSOUT 13, 650<br /> PULSOUT 12, 650<br /> PAUSE 20<br /> NEXT<br /> RETURN<br /> <br /> Turn_Right:<br /> FOR pulseCount = 0 TO 20 ' Right turn, about 90-degrees.<br /> PULSOUT 13, 850<br /> PULSOUT 12, 850<br /> PAUSE 20<br /> NEXT<br /> RETURN<br /> <br /> Back_Up: ' Back up.<br /> FOR pulseCount = 0 TO 40<br /> PULSOUT 13, 650<br /> PULSOUT 12, 850<br /> PAUSE 20<br /> NEXT<br /> RETURN<br /> &lt;/source&gt;</div>

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