basic stamp sumobots

my robotics teacher asked me to build an evasive sumo program out of PBASIC 2.5 FOR OUR BOE BOT SUMO BOTS NOT PARALLAX SUMOBOTS I don't know how


THIS IS THE ORIGINAL PROGRAM
(not the evasive)
' {$STAMP BS2}
' {$PBASIC 2.5}
' ----------------------------
' MiniSumo.bs2
' convert Boe-Bot into SumoBot
' ----------------------------
' Parralax BOE BOT SumoBots competion
' Asher Haun
' S.C.E.C. Robotics
' ----------------------------
' .bs2
' Boe Bot serial
' ----------------------------
' DiscoNuggetDevelopment
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LMotor                CON       13
RMotor                CON       12

LIrOut                CON       11
LIrIn                 VAR       IN14
RIrOut                CON       1
RIrIn                 VAR       IN0
startLed              CON       15
Speaker               CON       3

LFwdFast              CON       848 'find correct numbers
LFwdSlow              CON       775
LSTOP                 CON       750
LRevSlow              CON       725
LRevFast              CON       650

RFwdFast              CON       650 'find correct numbers
RFwdSlow              CON       725
RStop                 CON       750
RRevSlow              CON       775
RRevFast              CON       850


LeftTurnCount         CON       25  ' counter value for 90 turn
RightTurnCount        CON       35  ' counter value for 90 turn
AboutFaceCount        CON       120 ' counter value for 180 turns

blackThresh           VAR       Word
qti                   VAR       Nib
qtiLeft               VAR       qti.BIT1
qtiRight              VAR       qti.BIT0

irBits                VAR       Nib
IrLeft                VAR       irBits.BIT1
irRight               VAR       irBits.BIT0
LastIr                VAR       Nib

pulses                VAR       Byte
temp                  VAR       Byte

RunStatus             DATA      %00


' Piano notes
FreqDetectable        CON       3000

C6                    CON       1047
D6                    CON       1175
E6                    CON       1319
F6                    CON       1397
G6                    CON       1568
A6                    CON       1760
Be6                   CON       1976

C7                    CON       2093
D7                    CON       2349
E7                    CON       2637
F7                    CON       2793
G7                    CON       3136
A7                    CON       3520
Be7                   CON       3951
C8                    CON       4186
' end of piano notes





Reset:                                ' user reset button as On-Off
  READ RunStatus, temp                ' read current status
  temp = ~temp                        ' invert status
  WRITE RunStatus, temp               ' save status for next reset
  IF (temp > 0) THEN END              ' run now?

Set_Threshold:
  GOSUB Read_Line_Sensors
  blackThresh = (qtiLeft/10) + (qtiRight/10)
  LOW LMotor
  LOW Rmotor

Start_Delay:
  FOR temp = 1 TO 5
    HIGH StartLED
    PAUSE 900
    INPUT StartLed
    FREQOUT Speaker, 100, 2500, 5000 ' signal start of match tone
  NEXT
  GOTO Lunge
' - program code -
Main:
  GOSUB Read_Line_Sensors

  ' if not on shikiri (border) line, continue to look ofr opponent
  ' otherwise spin back towards center and resume search

  BRANCH qti, [About_Face, Spin_Right, Spin_Left, Search_For_Opponent]

  ' - Border Avoidance -

Spin_Left:                            ' right QTI detects white
  FOR pulses = 1 TO LeftTurnCount
  PULSOUT LMotor, LRevFast
  PULSOUT RMotor, RFwdFast
  PAUSE 20
  NEXT
  lastIr = %11
  GOTO Lunge

Spin_Right:                           ' left QTI detects white
  FOR pulses = 1 TO rightTurnCount
  PULSOUT LMotor, LFwdFast
  PULSOUT RMotor, RRevFast
  PAUSE 20
  NEXT
  lastIr = %11
  GOTO Lunge

About_Face:                           ' both QTI detect white
  FOR pulses = 1 TO 10                   ' back up from edge
  PULSOUT LMotor, LRevFast
  PULSOUT RMotor, RRevFast
  PAUSE 20
  NEXT
  FOR pulses = 1 TO 60                   ' turn around
  PULSOUT LMotor, LRevFast
  PULSOUT RMotor, RRevFast
  PAUSE 20
  NEXT
  lastIr = %11
  GOTO Lunge

  ' - IR Processsing -
Search_For_Opponent:
  GOSUB READ_IR_Sensors
  ' if opponent is not in sight scan in last known direction.
  ' turn toward opponent if seen by one eye, if both lunge forward
  BRANCH irBits, [Scan, Follow_Right, Follow_Left, lunge]

scan:
BRANCH lastIr, [Move_Fwd, Scan_Right, Scan_Left]


Move_Fwd:
PULSOUT LMotor, LFwdFast
PULSOUT RMotor, RFwdFast
GOTO Main



Scan_Right:
FOR pulses = 1 TO 5
PULSOUT LMotor, LFwdSlow
PULSOUT RMotor, RRevSlow
PAUSE 20
NEXT
GOSUB Creep_Forward
GOTO Main

Scan_Left:
FOR pulses = 1 TO 5
PULSOUT LMotor, LRevSlow
PULSOUT RMotor, RFwdSlow
PAUSE 20
NEXT
GOSUB Creep_Forward
GOTO Main

Follow_Right:

PULSOUT LMotor, LFwdFast
PULSOUT RMotor, RRevFast
PAUSE 20
lastIr = qti
GOTO Main

Follow_Left:

PULSOUT LMotor, LRevFast
PULSOUT RMotor, RFwdFast
PAUSE 20
lastIr = qti
GOTO Main

Lunge:
  FOR pulses = 1 TO 30
    DEBUG "lunge", CR
    PULSOUT LMotor, LFwdFast
    PULSOUT RMotor, RFwdFast
    GOSUB READ_LINE_Sensors
    IF (qti = %00)THEN Match_Over
  NEXT
GOTO Main

Match_Over:
  FOR pulses = 1 TO 10
    PULSOUT LMotor, LStop
    PULSOUT RMotor, RStop
    PAUSE 20
  NEXT
  INPUT LMotor
  INPUT RMotor

  FOR temp = 1 TO 10
   HIGH StartLED
   GOSUB Music
   INPUT StartLED
   PAUSE 100
  NEXT

DIRS = %0000
GOTO Reset:

' - subroutines -

Read_Line_Sensors:
  HIGH 4: PAUSE 1: qti.BIT0 = IN6: INPUT 4
  HIGH 5: PAUSE 1: qti.BIT1 = IN6: INPUT 5
RETURN



read_IR_Sensors:

  FREQOUT LIrOut, 1, 38500
  IrLeft = ~LIrIn

  FREQOUT RIrOut, 1, 38500
  IrRight = ~RIrIn
RETURN

Creep_Forward:
  FOR pulses = 1 TO 20
    PULSOUT LMotor, LFwdSlow
    PULSOUT RMotor, RFwdSlow
  NEXT
RETURN

Music:
  FREQOUT Speaker, 500,C7
  PAUSE 10
  FREQOUT Speaker, 500,C7
  PAUSE 10
  FREQOUT Speaker, 500,D7
  PAUSE 10
  FREQOUT Speaker, 500,E7
  PAUSE 10
  FREQOUT Speaker, 500,C7
  PAUSE 10
  FREQOUT Speaker, 500,E7
  PAUSE 10
  FREQOUT Speaker, 1000,D7
  PAUSE 10
  FREQOUT Speaker, 500,C7
  PAUSE 10
  FREQOUT Speaker, 500,C7
  PAUSE 10
  FREQOUT Speaker, 500,D7
  PAUSE 10
  FREQOUT Speaker, 500,E7
  PAUSE 10
  FREQOUT Speaker, 500,C7
  PAUSE 10
  FREQOUT Speaker, 1000,BE6
  PAUSE 10
  FREQOUT Speaker, 500,C7
  PAUSE 10
  FREQOUT Speaker, 500,C7
  PAUSE 10
  FREQOUT Speaker, 500,D7
  PAUSE 10
  FREQOUT Speaker, 500,E7
  PAUSE 10
  FREQOUT Speaker, 500,F7
  PAUSE 10
  FREQOUT Speaker, 500,E7
  PAUSE 10
  FREQOUT Speaker, 500,D7
  PAUSE 10
  FREQOUT Speaker, 500,C7
  PAUSE 10
  FREQOUT Speaker, 500,BE6
  PAUSE 10
  FREQOUT Speaker, 500,G6
  PAUSE 10
  FREQOUT Speaker, 500,A6
  PAUSE 10
  FREQOUT Speaker, 500,BE6
  PAUSE 10
  FREQOUT Speaker, 1000,C7
  PAUSE 10
  FREQOUT Speaker, 1000,C7

RETURN


















Comments

  • 2 Comments sorted by Date Added Votes
  • Well, start by stating in English (Pseudo-Code) what you want the program to do. Be very specific.

    Study your existing program. See what needs to change.
  • DiscoNuggetDiscoNugget Posts: 2
    edited April 7 Vote Up0Vote Down
    here is some basic Pseudo code:

    lunge, fast right, scan line sensors(if %00 then turn left160 degrees), round about 3/4 fast, lunge at side of opponent, start main program
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