How cane I make 2 programms in one ?

**Breuli** · 03-01-2013, 06:50 PM

German Version

Hallo ich brauche eure Hilfe

Ich baue einen Laufroboter der mit einer Fernbedienung gerade aus und rückwärts laufen kann. Doch ich bekomme es nicht hin diese 2 Programme in eins zu bekommen. Das vorwärts und rückwärts Laufen sollte von 2 Infrarot Sensoren einzeln aktiviert werden. Also wenn man mit einer Fernbedienung auf diesen einen Sensor drückt soll er vorwärts laufen. Wenn man mit der Fernbedienung auf den anderen Sensor drückt soll er rückwärts Laufen.
Kann mir einer schreiben wie ich aus diesen 2 Programmes eins mache?

Code:

' -----[ Title ]-----------------------------------------------------------
' Toddler Program 2.1 - First Steps Forward.bs2
' Run Movement Patters M0 to M8 to take several steps
' {$STAMP BS2}
' {$PBASIC 2.5}
' -----[ Declarations ]----------------------------------------------------
TiltStep         CON 5    ' TiltServo step size
StrideStep       CON 5    ' StrideServo step size
MoveDelay        CON 25   ' in micrcoseconds


RightTilt        CON 620  ' Tilt limits
CenterTilt       CON 750
LeftTilt         CON 880




RightForward     CON 650  ' Rechts
StrideCenter     CON 750
LeftForward      CON 950  '






StrideServo      CON 12   ' Stride servo on P12
TiltServo        CON 13   ' Tilt servo on P13


MoveLoop         VAR Nib  ' Repeat movements
Pulses           VAR Word ' Pulse variable


INPUT            0        ' Pin0 als Eingang


GreenLED         PIN     1' green LED is connected TO PIN 1


IsOn             CON     0' LED is active lowigh
IsOff            CON     1






' -----[ Initialization ]----------------------------------------------------




' -----[ Main Routine ]------------------------------------------------------
' Take three full steps.
Main_Program:
    GOSUB M0 ' center servos
' -----[ Abfrage sensor ]----------------------------------------------------
    GreenLED = IsOn
Sensor:
    IF IN0 = 1 THEN Sensor' Abfrageschleife
    GreenLED = IsOff
    DEBUG "Ab die Post!",CR
    GOSUB M0 ' center servos
    GOSUB M1 ' tilt right
    GOSUB M2 ' step left
    FOR MoveLoop = 1 TO 2 ' Anzahl der Schritte
        GOSUB M3 ' tilt left
        GOSUB M4 ' step right
        DEBUG "Step R",CR
        'PAUSE 10000
        GOSUB M5 ' tilt right
        GOSUB M6 ' step left
        DEBUG "Step L",CR
        'PAUSE 10000
    NEXT
    GOSUB M3 ' tilt left
    GOSUB M7 ' center feet
    GOSUB M8 ' center servos
GOTO Main_Program


' -----[ Subroutines ]-----------------------------------------------------
M0:
    FOR Pulses = 1 TO 100 STEP StrideStep
        PULSOUT TiltServo, CenterTilt
        PULSOUT StrideServo, StrideCenter
        PAUSE MoveDelay
    NEXT
RETURN


M1:
    FOR Pulses = CenterTilt TO RightTilt STEP TiltStep
        PULSOUT TiltServo, Pulses
        PULSOUT StrideServo, StrideCenter
        PAUSE MoveDelay
    NEXT
RETURN


M2:
    FOR Pulses = StrideCenter TO LeftForward STEP StrideStep
        PULSOUT TiltServo, RightTilt
        PULSOUT StrideServo, Pulses
        PAUSE MoveDelay
    NEXT
RETURN


M3:
    FOR Pulses = RightTilt TO LeftTilt STEP TiltStep
        PULSOUT TiltServo,Pulses
        PULSOUT StrideServo, LeftForward
        PAUSE MoveDelay
    NEXT
RETURN


' rechter Schritt
M4:
    FOR Pulses = LeftForward TO RightForward STEP StrideStep
        PULSOUT TiltServo,LeftTilt
        PULSOUT StrideServo, Pulses
        PAUSE MoveDelay
    NEXT
RETURN


M5:
    FOR Pulses = LeftTilt TO RightTilt STEP TiltStep
        PULSOUT TiltServo,Pulses
        PULSOUT StrideServo, RightForward
        PAUSE MoveDelay
    NEXT
RETURN


' linker Schritt
M6:
     FOR Pulses = RightForward TO LeftForward STEP StrideStep
        PULSOUT TiltServo,RightTilt
        PULSOUT StrideServo, Pulses
        PAUSE MoveDelay
    NEXT
RETURN


M7:
    FOR Pulses = LeftForward TO StrideCenter STEP StrideStep
        PULSOUT TiltServo,LeftTilt
        PULSOUT StrideServo, Pulses
        PAUSE MoveDelay
    NEXT
RETURN


M8:
    FOR Pulses = LeftTilt TO CenterTilt STEP TiltStep
        PULSOUT TiltServo,Pulses
        PULSOUT StrideServo, StrideCenter
        PAUSE MoveDelay
    NEXT
RETURN


das ist das erste Programm wo er vorwärts Läuft. Das Programm wird mit einer Fernbedienung aktiviert.

  IF IN0 = 1 THEN Sensor    <.< das ist für den Infrarot Sensor. Damit kann der Roboter erkennen das er das Programm                        abspielen soll


Rückwärtslaufen: 

' -----[ Title ]-----------------------------------------------------------
' Toddler Program 2.2 - Walking Backwards.bs2
' Run Movement Patters M9 to M13 to walk backwards
' {$STAMP BS2}
' {$PBASIC 2.5}
' -----[ Declarations ]----------------------------------------------------
TiltStep CON 5 ' TiltServo step size
StrideStep CON 5 ' StrideServo step size
MoveDelay CON 20 ' in micrcoseconds
RightTilt CON 620 ' Tilt limits
CenterTilt CON 750
LeftTilt CON 880
RightForward CON 650 ' Stride limits
StrideCenter CON 750
LeftForward CON 850
StrideServo CON 12 ' Stride servo on P12
TiltServo CON 13 ' Tilt servo on P13
MoveLoop VAR Nib ' Repeat movements
Pulses VAR Word ' Pulse variable
' -----[ Initialization ]--------------------------------------------------
' -----[ Main Routine ]----------------------------------------------------
Main_Program:
GOSUB M9 ' center servos
GOSUB M10 ' tilt right
GOSUB M12 ' step back
FOR MoveLoop = 1 TO 3
GOSUB M13 ' tilt left
GOSUB M14 ' step left
GOSUB M15 ' tilt right
GOSUB M16 ' step right
NEXT
GOSUB M13 ' tilt left
GOSUB M17 ' center feet
GOSUB M14 ' center servos
END
' -----[ Subroutines ]-----------------------------------------------------
M9:
FOR Pulses = 1 TO 100 STEP StrideStep
PULSOUT TiltServo, CenterTilt
PULSOUT StrideServo, StrideCenter
PAUSE MoveDelay
NEXT
RETURN
M10:
FOR Pulses = CenterTilt TO RightTilt STEP TiltStep
PULSOUT TiltServo, Pulses
PULSOUT StrideServo, StrideCenter
PAUSE MoveDelay
NEXT
RETURN
M11:
FOR Pulses = LeftTilt TO CenterTilt STEP TiltStep
PULSOUT TiltServo,Pulses
PULSOUT StrideServo, StrideCenter
PAUSE MoveDelay
NEXT
RETURN
M12:
FOR Pulses = StrideCenter TO RightForward STEP StrideStep
PULSOUT TiltServo, RightTilt
PULSOUT StrideServo, Pulses
PAUSE MoveDelay
NEXT
RETURN
M13:
FOR Pulses = RightTilt TO LeftTilt STEP TiltStep
PULSOUT TiltServo,Pulses
PULSOUT StrideServo, RightForward
PAUSE MoveDelay
NEXT
RETURN
M14:
FOR Pulses = RightForward TO LeftForward STEP StrideStep
PULSOUT TiltServo,LeftTilt
PULSOUT StrideServo, Pulses
PAUSE MoveDelay
NEXT
RETURN
M15:
FOR Pulses = LeftTilt TO RightTilt STEP TiltStep
PULSOUT TiltServo,Pulses
PULSOUT StrideServo, LeftForward
PAUSE MoveDelay
NEXT
RETURN
M16:
FOR Pulses = LeftForward TO RightForward STEP StrideStep
PULSOUT TiltServo,RightTilt
PULSOUT StrideServo, Pulses
PAUSE MoveDelay
NEXT
RETURN
M17:
FOR Pulses = RightForward TO StrideCenter STEP StrideStep
PULSOUT TiltServo,LeftTilt
PULSOUT StrideServo, Pulses
PAUSE MoveDelay
NEXT
RETURN

Bitte helft mir ich bin 15 Jahre alt und habe keine Ideen mehr

English Version ( Google translater )

Hello I need your help

I build a walking robot with a remote control that can just out and backwards. But I'm not getting out these 2 programs to get into one. The running back and forth should be activated by 2 infrared sensors individually. So when you press a remote control sensor on this one, he should move forward. When you press the remote control sensor on the other he is running backwards.
Can I write a program, one of these two do?

IF IN0 = 1 THEN Sensor <.<This is for the infrared sensor. The robot can recognize that he is to play the program

Walking backwards:

Code:

' -----[ Title ]-----------------------------------------------------------
' Toddler Program 2.2 - Walking Backwards.bs2
' Run Movement Patters M9 to M13 to walk backwards
' {$STAMP BS2}
' {$PBASIC 2.5}
' -----[ Declarations ]----------------------------------------------------
TiltStep CON 5 ' TiltServo step size
StrideStep CON 5 ' StrideServo step size
MoveDelay CON 20 ' in micrcoseconds
RightTilt CON 620 ' Tilt limits
CenterTilt CON 750
LeftTilt CON 880
RightForward CON 650 ' Stride limits
StrideCenter CON 750
LeftForward CON 850
StrideServo CON 12 ' Stride servo on P12
TiltServo CON 13 ' Tilt servo on P13
MoveLoop VAR Nib ' Repeat movements
Pulses VAR Word ' Pulse variable
' -----[ Initialization ]--------------------------------------------------
' -----[ Main Routine ]----------------------------------------------------
Main_Program:
GOSUB M9 ' center servos
GOSUB M10 ' tilt right
GOSUB M12 ' step back
FOR MoveLoop = 1 TO 3
GOSUB M13 ' tilt left
GOSUB M14 ' step left
GOSUB M15 ' tilt right
GOSUB M16 ' step right
NEXT
GOSUB M13 ' tilt left
GOSUB M17 ' center feet
GOSUB M14 ' center servos
END
' -----[ Subroutines ]-----------------------------------------------------
M9:
FOR Pulses = 1 TO 100 STEP StrideStep
PULSOUT TiltServo, CenterTilt
PULSOUT StrideServo, StrideCenter
PAUSE MoveDelay
NEXT
RETURN
M10:
FOR Pulses = CenterTilt TO RightTilt STEP TiltStep
PULSOUT TiltServo, Pulses
PULSOUT StrideServo, StrideCenter
PAUSE MoveDelay
NEXT
RETURN
M11:
FOR Pulses = LeftTilt TO CenterTilt STEP TiltStep
PULSOUT TiltServo,Pulses
PULSOUT StrideServo, StrideCenter
PAUSE MoveDelay
NEXT
RETURN
M12:
FOR Pulses = StrideCenter TO RightForward STEP StrideStep
PULSOUT TiltServo, RightTilt
PULSOUT StrideServo, Pulses
PAUSE MoveDelay
NEXT
RETURN
M13:
FOR Pulses = RightTilt TO LeftTilt STEP TiltStep
PULSOUT TiltServo,Pulses
PULSOUT StrideServo, RightForward
PAUSE MoveDelay
NEXT
RETURN
M14:
FOR Pulses = RightForward TO LeftForward STEP StrideStep
PULSOUT TiltServo,LeftTilt
PULSOUT StrideServo, Pulses
PAUSE MoveDelay
NEXT
RETURN
M15:
FOR Pulses = LeftTilt TO RightTilt STEP TiltStep
PULSOUT TiltServo,Pulses
PULSOUT StrideServo, LeftForward
PAUSE MoveDelay
NEXT
RETURN
M16:
FOR Pulses = LeftForward TO RightForward STEP StrideStep
PULSOUT TiltServo,RightTilt
PULSOUT StrideServo, Pulses
PAUSE MoveDelay
NEXT
RETURN
M17:
FOR Pulses = RightForward TO StrideCenter STEP StrideStep
PULSOUT TiltServo,LeftTilt
PULSOUT StrideServo, Pulses
PAUSE MoveDelay
NEXT
RETURN

Please help me I am 15 years old and I have no more ideas: (

**erco** · 03-02-2013, 03:11 AM

Zu hilfe!

Do you mean a tv remote control, using modulated 38 kHz IR? You will need a special 3 pin IR receiver, such as http://www.amazon.com/TSOP1838-IR-In.../dp/B003IVGE6M which is active low, BTW.

You also need Parallax's "read IR" routine to know which key was pressed. Do you know that routine?

**erco** · 03-02-2013, 03:23 AM

One general method to combine your programs is like this:

main:
read IR remote signal X
if X=1 then forward
if X=2 then backward
goto main

forward:
(your routine to take 2 steps forward)
goto main

backward:
(your routine to take 2 steps backward)
goto main

And that read IR routine can be found at http://www.parallax.com/StoreSearchR...ch=ir+receiver

more specifically, http://www.parallax.com/Portals/0/Do...ectAppnote.zip

**Breuli** · 03-02-2013, 11:58 AM

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This is the remote control with which the robot is started.

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and so does the robot. I have everything I need there. I just do not know how I get shut hammer out the running forward and reverse running together. I can not imagine by your post looks like it is the query of individual sensors.

**erco** · 03-02-2013, 04:20 PM

Hey, that's a real Parallax Toddler. Great robot. Rare. In Germany, huh?

Your IR receivers on the robot look OK, but that Samsung remote will be a problem, you need a Sony remote. Can you get a different universal remote and set it up like a Sony television remote?

Do you have this document, with lots of code? www.parallax.com/dl/docs/books/edu/toddler.pdf

**Breuli** · 03-02-2013, 05:06 PM

No, the remote is ok

I do not want every single keyboard on the remote control code ^^ I did it just so before the start of the robot by any click of the remote.

The infrared sensor will be designed for the forward running and the other for the reverse rotation that is my problem

I have no idea how to program it ...

**erco** · 03-02-2013, 07:04 PM

Sorry, I can only help if you use a Sony TV remote. If you must use that remote, then you have to program it by yourself.

Viel gluck!

**Breuli** · 03-04-2013, 01:41 PM

other helper here ? ^^

**erco** · 03-04-2013, 04:14 PM

Breuli: I've offered to help you in several PMs, suggesting that you get a different remote using the Sony SIRC protocol, but you insist on using that Samsung remote you already have. If you would have spent $2 and bought a universal remote, we would have been done last week. You keep saying that you don't need all those buttons, but that is not helping your progress. If you want a small remote, then buy this and set it up for Sony TV: http://www.ebay.com/itm/New-Mini-Uni...item27cad18818

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