1. IR Receiver Board

2. Global Variables Main() for GOTO_Beacon Program Call three functions Note: you need to change freq for the beacon you want to find!

3. amplifier Tuning circuit From previous stage To next stage Beacon Frequency Selection (filter) AD14 Freq select (0=1kHz, 1=10kHz)

4. Read_PD() Function 1 1 0 0

5. Infrared Detectors Selector 1 1 0 To next stage counter LEDs AD16 Counter reset AD15 pulse IR Detector Selection 1 1 0 Count output set to zero Get ready to count Increment count (0 to 1 transition)

6. amplifier Tuning circuit From previous stage To next stage Beacon Frequency Selection (filter) AD14 Freq select (0=1kHz, 1=10kHz)

7. Exposure Control Circuit AD15 From previous stage To AD1 (VEX Analog input) Amplifier 1 Clear ‘film’ (discharge C14) 0 Open ‘shutter’ (allow C14 to charge)

8. expose_and_read() Function

9. Main() for GOTO_Beacon Program Find maximum intensity

10. find_max() Function

11. Main() for GOTO_Beacon Program Move the robot

12. Move() Program

13. limit_pwm() Program