โปรแรมใกล้พนัง

' {$STAMP BS2sx}
' {$PBASIC 2.5}
ADC VAR Word
R VAR Word
I VAR ByteX VAR Byte
PAUSE
1IF (ADC > XXX) THENLOW 15 : HIGH 14 : LOW 13 : HIGH 12 : PAUSE 40LOW 15 : LOW 14 : LOW 13 : LOW 12ENDENDIFLOOPEND
RD_ADC: LOW 10 : PAUSE 2 : HIGH 10SEROUT 10,240,[1]SERIN 10,240,250,Error,[ADC.BYTE0,ADC.BYTE1]RETURNError: RETURN
โดยที่ ( XXX = 385(ใกล้ที่สุด),320(3cm),250(5cm) )

a17-1

{$STAMP BS2sx}
' {$PBASIC 2.5}
ADC VAR Word
CH VAR Byte
CNT VAR Byte
CNT = 0
PAUSE 1000
HIGH 15 LOW 14 : HIGH 13 : LOW 12
DO
CH = 3 : GOSUB RD_ADC
IF ADC < 100 THEN
DO
CH = 3 : GOSUB RD_ADC
LOOP UNTIL(ADC > 100)
CNT = CNT + 1
ENDIF
CH = 5
PAUSE 300
LOOP UNTIL(CNT > 19)
LOW 15 : HIGH 14 : LOW 13 : HIGH 12
PAUSE 100
LOW 15 : LOW 14 : LOW 13 : LOW 12
STOP
RD_ADC: LOW 10 : PAUSE 2 : HIGH 10
SEROUT 10,240,[CH]
SERIN 10,240,250,Error,[ADC.BYTE0,ADC.BYTE1]
RETURN
Error: DEBUG "Error reading", CR
RETURN

การตรวจจับป้องกันการชน แผนที่

ข้อสอบใหญ่

' {$STAMP BS2sx}
' {$PBASIC 2.5}
PAUSE 1000
main : GOSUB forward :PAUSE 1500
GOSUB t_left :PAUSE 500
GOSUB forward : PAUSE 500
GOSUB t_right : PAUSE 500
GOSUB forward : PAUSE 1000
GOSUB t_right : PAUSE 500
GOSUB forward : PAUSE 1000
GOSUB t_left : PAUSE 500
GOSUB forward : PAUSE 1000
GOSUB t_left : PAUSE 500
GOSUB forward : PAUSE 1000
GOSUB t_right :PAUSE 500
GOSUB forward : PAUSE 500
GOSUB t_right : PAUSE 550
GOSUB forward :PAUSE 2000
GOSUB t_right :PAUSE 500
GOSUB forward :PAUSE 500
GOSUB t_right :PAUSE 700
GOSUB forward : PAUSE 4000
GOSUB s_right : PAUSE 350
GOSUB forward : PAUSE 150
GOSUB motor_off : PAUSE 10000
forward : HIGH 15: LOW 14 : HIGH 13 : LOW 12 : RETURN
t_left :LOW 15 : LOW 14 : HIGH 13 :LOW 12 : RETURN
t_right :HIGH 15 : LOW 14 :LOW 13 :LOW 12 :RETURN
s_right : HIGH 15 : LOW 14 : LOW 13 : HIGH 12 : RETURN
motor_off :LOW 15 :LOW 14:LOW 13:LOW 12 :RETURN

แผนผังการเดิน

เดินไปกลับแบบหมุนตัว

' {$STAMP BS2sx}'
{$PBASIC 2.5}'
{$PORT COM2}
PAUSE 1000
Main: GOSUB Forward : PAUSE 1200
GOSUB S_Right:PAUSE 1000
GOSUB Forward:PAUSE 1200
GOSUB S_Right:PAUSE 800
GOSUB Motor_OFF:PAUSE 10000GOTO MainForward:HIGH 13:LOW 12:HIGH 15:LOW 14:RETURNS_Right:HIGH 15:LOW 14:LOW 13:HIGH 12:RETURN
Motor_OFF:LOW 13:LOW 12:LOW 15:LOW 14:RETURN