Boe-Bot help!?

Dan Taylor

Hey guys,
I just don't get why this makes the Boe-Bot go backwards,

PULSOUT 13, 650
PULSOUT 12, 850

And this·makes it do a left turn,

PULSOUT 13, 650
PULSOUT 12, 650

And this makes·it take a·right turn,

PULSOUT 13, 850
PULSOUT 12, 850

Cause I mean if you send the same amount of pulses to each motor wouldn't it go forward?
Sorry I'm new to the Boe-Bot so please help!






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Dan Taylor

Mike Green

The servos are mounted in opposite directions (on either side of the BoeBot) so one has to go in one direction and the other in the opposite direction for the BoeBot to move forwards.

Dan Taylor

But how do you make one turn the opposite direction to make it go forward?

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Dan Taylor

Zoot

PULSOUT 13, 850
PULSOUT 12, 650


The above would be forward. Remember one motor is "mirror image" of the other -- it's mounted "flipped" on the Boe-bot chassis. So you have to run one motor "forward" and one "backward" to go forward because the "backward" motor *is* backward.

If it's too much, you could put your "motor out" commands into a subroutine that flips the value for you, i.e.

motor1 PIN 13
motor2 PIN 12
mspeed VAR Word
m1speed VAR mspeed.BYTE0 ' these will hold "desired" motor speed: 128 = stopped, > 128 = forward, < 128 = backward
m2speed VAR mspeed.BYTE1
counter VAR Byte

DO

FOR counter = 0 TO 100
m1speed = 128 ' stopped
m2speed = 128 ' stopped
GOSUB Send_Motors
NEXT

FOR counter = 0 TO 100
m1speed = 255 ' full speed ahead
m2speed = 255 '
GOSUB Send_Motors
NEXT

FOR counter = 0 TO 100
m1speed = 0 ' spin
m2speed = 255 '
GOSUB Send_Motors
NEXT

FOR counter = 0 TO 100
m1speed = 180 ' approx half speed forward
m2speed = 180 '
GOSUB Send_Motors
NEXT

LOOP

Send_Motors:
  PULSOUT motor1, ( m1speed - 128 + 750 )
  PULSOUT motor2, ( 128 - m2speed + 750 ) ' this motor is "flipped"
  PAUSE 10 ' or whatever pulse padding you need to keep servos smooth
  RETURN

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When the going gets weird, the weird turn pro. -- HST

1uffakind.com/robots/povBitMapBuilder.php
1uffakind.com/robots/resistorLadder.php

Dan Taylor

Ok, thanks, that helps alot!

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Dan Taylor