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Bots /The Ultimate Palm Robot/ Mukhar & Johnson / 222880-6 / Chapter 5

Chapter 5 Checking Out the Robot 117

jig( ) function, you can see that it uses several functions from the other TEA
files, namely aPPRK_Go( ) and aCore_Sleep( ), to do its work:

void jig()
{
aPPRK_Go(0, -100, 100, 0);
aCore_Sleep(20000);
aPPRK_Go(0, 0, 0, 100);
aCore_Sleep(30000);
aPPRK_Go(0, -100, 100, 0);
aCore_Sleep(20000);
aPPRK_Go(0, 0, 0, -100);
aCore_Sleep(30000);
aPPRK_Go(0, 0, 0, 0);
}

The other function in the source code is the main( ) function. This is where
we found the answer. If you look at the following source code, you’ll see only
one line of code that appears to read a sensor, and it appears to read IR1. That
would explain why only one sensor caused the robot to do its little jig:

void main()
{
int b;
int range;

/* five second wait before starting */
aCore_Sleep(25000);
aCore_Sleep(25000);

/* loop continuously */
while (1) {
/* take a reading */
range = aA2D_ReadInt(APPRK_IR1);
/* see if something was present and do */
/* the jig if so */
if (range > 100)
jig();
/* stall for 1 second */
aCore_Sleep(10000);
} /* while */
} /* main */

P:\010Comp\Bots\880-6\ch05.vp
Monday, May 12, 2003 4:06:14 PM