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''                                                                   ''
''                   VDE TUD Roboterwettbewerb 2003                  ''
''                         (TSOP-Testroutine)                        ''
''                                                                   ''
''                           - Aluminator -                          ''
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' Richtungsports Motoren
DEFINE out_mdirect_left PORT[1]
DEFINE out_mdirect_right PORT[2]

' Geschwindigkeitsports Motor
DEFINE out_mspeed_left DA[2]
DEFINE out_mspeed_right DA[1]

' TSOP Detektoren
DEFINE in_tsop_outer_left PORT[12]
DEFINE in_tsop_inner_left PORT[9]
DEFINE in_tsop_inner_right PORT[10]
DEFINE in_tsop_outer_right PORT[11]

' Konstanten
DEFINE MSPEED_STOP 0
DEFINE MSPEED_SLOW 130
DEFINE MSPEED_MEDIUM 161
DEFINE MSPEED_FAST 193
DEFINE MSPEED_FASTEST 255

print "TSOP-Testroutine"
print

#start

IF in_tsop_outer_right THEN print "in_tsop_outer_right"
IF in_tsop_outer_left THEN print "in_tsop_outer_left"
IF in_tsop_inner_right THEN print "in_tsop_inner_right"
IF in_tsop_inner_left THEN print "in_tsop_inner_left"

GOTO start

end