Centering Ping Servo

Hatem

Hello everyone, I have the compass module mounted on the Ping Servo mounting bracket. Every time I turn on the Bot, the Ping servo moves a little to the right and I have to add a long pause time at the beginning of the program to manually center the ping. Is there a way to overcome this glitch???

Franklin

You should not have to touch the servo. Send the servo a 'centering' command (pulsout) at the start of the program and it should come back to the same place as before. If this does not work then make sure the servo is mounted securely and the code does not cause the servo to HIT the ends of it's travel.

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- Stephen

Hatem

Thanks Franklin, I used a PULSOUT command and managed to have the bot center its head before the program starts, another thing is related to angles and heading. If I obtained the angle before and object is detected and titled Angle1, and after the bot maneuvers around it, it will obtain a new angle reading and name it Angle2. The logic is simple. If Angle2 is more than 5% of Angle1, then the Bot will go on circles until the difference is zero, otherwise it will go forward.

Correct_Heading:

IF (Angle2 - Angle1) < (Angle1/20) THEN
InitialValue = InitialValue + 140
ELSEIF (Angle2 - Angle1) > (Angle1/20) THEN
GOSUB Turn_to_Heading
ENDIF
RETURN

Turn_to_Heading: '*** I am not sure if this is correct, the Boe-Bot
'*** will turn untill it becomes within 5 % error of
relBearing = 360 - (Angle2 - Angle1) '*** Angle1 beofre an object is detected
counter = relBearing - Angle1
DO
PULSOUT LeftServo, 850 ' Left Servo Pulse Value
PULSOUT RightServo, 850 ' Right Servo Pulse Value
PAUSE 20
LOOP UNTIL counter = 0
InitialValue = InitialValue + 140
RETURN

My bot just keeps on turning nonstop. I am not sure how to perform this task.

allanlane5

Simple problem -- in your "DO" loop, you never decrement "Counter", thus it never reaches zero.
Put a "Counter = Counter - 1" inside the do loop to fix this.