autonomous lawn mower

epicjr77

I just finished my project and would like to thank every one here for your help.
Uses a BS2 with a ping and bumper switches





' {$STAMP BS2}
' {$PBASIC 2.5}

Ping PIN 14
PingServo PIN 0
LeftServo PIN 13
RightServo PIN 12
rawDist VAR Word
sweepcount VAR Word
x VAR Byte
pulseCount VAR Byte
switch VAR IN15
Ticks VAR Byte

DO

DEBUG ? IN15
DEBUG ? IN9
DEBUG ? IN10

FOR sweepcount = 350 TO 1150 STEP 200
FOR x = 0 TO 1
PULSOUT 0, sweepcount
PAUSE 20
NEXT
GOSUB GetSonar
NEXT

FOR sweepcount = 950 TO 550 STEP 200
FOR x = 0 TO 1
PULSOUT 0, sweepcount
PAUSE 20
NEXT
GOSUB GetSonar
NEXT

IF switch=0 THEN
ticks=ticks + 1 MAX 25
ELSE
ticks=0 ' reset timer
ENDIF

IF ticks=1 THEN ' still open after 1/4 second
GOSUB Back_Up
GOSUB Turn_Left
GOSUB Turn_left
ENDIF

elseIF (IN15 = 1) THEN
PULSOUT 14, 1000 ' grass sensor see grass so open throttle
PAUSE 20
ENDIF

ELSEIF (IN15 = 0) THEN ' grass sensor doesnt see grass so close throttle and back up and turn right
PULSOUT 14, 500
GOSUB Back_Up
GOSUB Back_Up
GOSUB Turn_Right

ENDIF

LOOP

'

---

Subroutines

---

GetSonar:
LOW Ping
PULSOUT Ping, 5
PULSIN Ping, 1, rawDist

IF (rawDist < 2200) THEN ' adjust to change distance
IF (sweepcount < 750) THEN
GOSUB Back_Up
GOSUB Turn_Left
ELSEIF (sweepcount > 750) THEN
GOSUB Back_Up
GOSUB Turn_Right
ENDIF
ELSE
GOSUB Forward_Pulse
ENDIF
RETURN

Forward_Pulse:

IF (IN10 = 1) THEN ' Left Bumper Contact
GOSUB Back_Up ' Back up & turn right
GOSUB Turn_Right
GOSUB Turn_Right

ELSEIF (IN9 = 1) THEN ' Right Bumper Contact
GOSUB Back_Up ' Back up & turn left
GOSUB Turn_left
GOSUB Turn_Left
ENDIF

FOR pulsecount = 0 TO 5
PULSOUT LeftServo, 900
PULSOUT RightServo, 600
PAUSE 20
NEXT
RETURN

Turn_Left:
FOR pulseCount = 0 TO 20
PULSOUT LeftServo, 600
PULSOUT RightServo, 600
PAUSE 20
NEXT
RETURN

Turn_Right:
FOR pulseCount = 0 TO 20
PULSOUT LeftServo, 900
PULSOUT RightServo, 900
PAUSE 20
NEXT
RETURN

Back_Up:
FOR pulseCount = 0 TO 40
PULSOUT LeftServo, 600
PULSOUT RightServo, 900
PAUSE 20
NEXT

FOR pulseCount = 0 TO 7
PULSOUT LeftServo, 600
PULSOUT RightServo, 900
PAUSE 20
NEXT
RETURN

jeffjohnvol

Very cool project. Does it do any determination if the grass is cut (edge detection)? Part of the video didn't appear to have grass getting cut.... or was I just confused?

epicjr77

The grass cutting width is very small 6 inches, and our camera was the best so it is tough to see. It is supposed to detect cut grass but it doesn't work correctly yet. I plan on putting better blades on it and hopefully getting that cut grass sensor to work. Right now I have to write a report and pre-pare my presentation

Whit

Great project. I love that you included your mini-robot prototype on the video. Thanks for posting your code too!

Super job.

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Whit+


"We keep moving forward, opening new doors, and doing new things, because we're curious and curiosity keeps leading us down new paths." - Walt Disney

ryan1985

Thanks for the codes bro [noparse]:)[/noparse]

Steve in NM

Very cool!

Now it needs GPS so it knows where it's been. At near $4 a gallon, it goes without saying.

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I'm not a complete idiot! Some of my parts are missing.