Page 290 - Hacking Roomba

Chapter 13 — Giving Roomba a New Brain and Senses 271

Listing 13-1 Continued

SENS_CLIFF_L VAR BYTE
SENS_CLIFF_FL VAR BYTE
SENS_CLIFF_FR VAR BYTE
SENS_CLIFF_R VAR BYTE
SENS_VWALL VAR BYTE
SENS_MOTOROVER VAR BYTE
SENS_DIRT_L VAR BYTE
SENS_DIRT_R VAR BYTE
i VAR BYTE ‘ counter

BUMP_RIGHT VAR SENS_BUMPWHEEL.BIT0
BUMP_LEFT VAR SENS_BUMPWHEEL.BIT1
WHEELDROP_C VAR SENS_BUMPWHEEL.BIT4

‘ wake up robot
LOW DD
PAUSE 100
HIGH DD
PAUSE 2000
‘ pulse device detect 3 times to shift down to 19.2kbps
FOR i = 1 TO 3
LOW DD
LOW LED
PAUSE 250
HIGH DD
HIGH LED
PAUSE 250
NEXT

‘ start up ROI, then downshift again to 2400 bps for basic
stamp
SEROUT RXD, BAUDFAST, [R_START]
PAUSE 100
SEROUT RXD, BAUDFAST, [R_BAUD, 3] ‘ 3 == 2400 bps
PAUSE 100
SEROUT RXD, BAUDSLOW, [R_START]
PAUSE 100
SEROUT RXD, BAUDSLOW, [R_CONTROL]
PAUSE 100
Main:
DEBUG “at the top”,CR
GOSUB Update_Sensors
IF BUMP_RIGHT THEN
GOSUB Spin_Left
Continued