' SumoBot_4.1_IR_Sensor_Test.bs2
' {$STAMP BS2}
' {$PBASIC 2.5}
                '---[I/O DEFINITIONS]----------
LflrOut PIN 4            'left IR LED output
Lflrln PIN 11            'left ir sensor input
RtlrOut PIN 15           'right IR LED output
RTlrln PIN 14            'right IR sensor input
                '---[Variables]----------------
irBits VAR Nib           'storage for IR target data
irLeft VAR irBits.BIT1
irRight VAR irBits.BIT0
                '---[Program Code]-------------
Main:
do
FREQOUT LflrOut, 1, 38500    'modulate left IR LED
irLeft = ~LFlrln             'read input (1 = target)
FREQOUT RtlrOut, 1, 38500    'modulate right IR LED
irRight = ~Rtlrln            'read input (1 = target)
DEBUG HOME,
"L R", CR,
"----", CR,
BIN1 irLeft, " ", BIN1 irRight
PAUSE 20
loop
end