PING bracket
Jimi Freeman
Posts: 46
My bracket arrived today , and after assembly, i run the demo roaming w/ ping. The bot sits in one spot, and the servo turns completely to the right, and attempts to keep turning but its too far. Is something burnt up?
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- Stephen
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- Stephen
' ========================================================================= ' ' File...... RoamingWithPING.bs2 ' Purpose... Roam And Scan Using PING))) Mounting Bracket ' Author.... Parallax, Inc. ' E-mail.... support@parallax.com ' Started... ' Updated... 12-21-2005 ' ' {$STAMP BS2} ' {$PBASIC 2.5} ' ' ========================================================================= ' -----[noparse][[/noparse] Program Description ]--------------------------------------------- ' This programs demonstrates roaming with the Parallax PING))) Mounting ' Bracket, which allows you to pan-scan with your Parallax PING))) sensor. ' ' This program assumes you have already set your BOE-Bot up for roaming ' with IR sensors. You must also have the PING))) Mounting bracket ' installed as per the instructions, with the servo connected to P14 and ' the PING))) sensor connected to P15. ' ' Due to the way the PING))) bracket mounts you may have to trim your IR ' detectors down so that they don't stick up in the way of the moving ' PING))) bracket as it rotates. It's best to angle them off at 45 ' degree angles so that the BOE-Bot doesn't run into anything while ' moving along a wall at a narrow angle. ' ' The BOE-Bot will now roam around and when it senses an object, it will ' scan within a 180 degree field of view for the clearest path, which it ' will then navigate scanning for an object again. The IR Sensors prevent ' hitting a wall when coming at it from a narrow angle where the PING))) ' might have trouble seeing it due to the lack of reflection of sound. ' ' Calibration is important to this code working properly. If you do not ' have the correct values for your servos then you may get strange results ' from your BOE-Bot. The necessary calibration information is listed in ' each section of the code where it is required. ' -----[noparse][[/noparse] Revision History ]------------------------------------------------ ' This code is basically a modified version of the Roaming With IR code ' from the Robotics With The BOE-Bot Manual, written by Andy Lindsay. ' Much of the original code was left untouched so you can see how it was ' altered. ' -----[noparse][[/noparse] I/O Definitions ]------------------------------------------------- Piezo PIN 4 ' Piezo Speaker RightServo PIN 12 ' Right Servo LeftServo PIN 13 ' Left Servo PingServo PIN 14 ' PING))) Servo Ping PIN 15 ' PING))) Sensor ' -----[noparse][[/noparse] Variables ]------------------------------------------------------- irDetectLeft VAR Bit ' Variable For Left IR Input irDetectRight VAR Bit ' Variable For Right IR Input pulseCount VAR Byte ' Used For Measuring Turns distance VAR Word ' Current Distance Of Object oldDistance VAR Word ' Old Distance Value counter VAR Word ' PING))) Cycle Counter task VAR Nib ' Current Task ' -----[noparse][[/noparse] Initialization ]-------------------------------------------------- FREQOUT Piezo, 2000, 3000 ' Signal Program Start/Reset ' -----[noparse][[/noparse] Program Code ]---------------------------------------------------- Main: DO FREQOUT 8, 1, 38500 ' Emit 38.5 kHz IR To Left irDetectLeft = IN9 ' Store IR Detection Values FREQOUT 2, 1, 38500 ' Emit 38.5 kHz IR To Right irDetectRight = IN0 ' Store IR Detection Values IF (irDetectLeft = 0) AND (irDetectRight = 0) THEN GOSUB Ping_Around ' Object Detected via IR Forward ELSEIF (irDetectLeft = 0) THEN GOSUB Ping_Around ' Object Detected via IR Left ELSEIF (irDetectRight = 0) THEN GOSUB Ping_Around ' Object Detected via IR Right ENDIF counter = counter + 1 ' Increment Passive Counter IF counter > 10 THEN ' Wait For 10 Servo Pulses GOSUB Ping_Out ' Activate PING))) ENDIF IF (distance > 30) THEN ' Is Object Farther Than 30 cm? GOSUB Forward_Pulse ' If Yes Go Forward ELSE GOSUB Ping_Around ' Otherwise Scan For Clear Path ENDIF LOOP ' -----[noparse][[/noparse] Subroutines ]----------------------------------------------------- ' ************************************************************************* ' * USE THE APPROPRIATE PULSOUT VALUES TO MAKE YOUR BOE-BOT MOVE FORWARD * ' * WHILE THE PING))) IS FACING FORWARD. * ' ************************************************************************* Forward_Pulse: ' Send A Single Forward Pulse PULSOUT PingServo, 750 ' Ping Servo Forward Pulse Value PULSOUT LeftServo, 850 ' Left Servo Forward Pulse Value PULSOUT RightServo, 650 ' Right Servo Forward Pulse Value PAUSE 20 ' Refresh Delay RETURN ' ************************************************************************* ' * USE THE APPROPRIATE PULSOUT VALUES TO MAKE YOUR BOE-BOT TURN LEFT 90 * ' * DEGREES. USE THE SAME VALUE AS ABOVE FOR THE PING))) BRACKET SERVO. * ' ************************************************************************* Turn_Left: ' Left Turn, About 45 Degrees FOR pulseCount = 0 TO 7 ' Number Of Pulses To Turn PULSOUT PingServo, 750 ' Ping Servo Forward Pulse Value PULSOUT LeftServo, 650 ' Left Servo Left Pulse Value PULSOUT RightServo, 650 ' Right Servo Left Pulse Value PAUSE 20 ' Refresh Delay NEXT RETURN ' ************************************************************************* ' * USE THE APPROPRIATE PULSOUT VALUES TO MAKE YOUR BOE-BOT TURN RIGHT 90 * ' * DEGREES. USE THE SAME VALUE AS ABOVE FOR THE PING))) BRACKET SERVO. * ' ************************************************************************* Turn_Right: ' Right Turn, About 45 Degrees FOR pulseCount = 0 TO 7 ' Number Of Pulses To Turn PULSOUT PingServo, 750 ' Ping Servo Forward Pulse Value PULSOUT LeftServo, 850 ' Left Servo Right Pulse Value PULSOUT RightServo, 850 ' Right Servo Right Pulse Value PAUSE 20 ' Refresh Delay NEXT RETURN ' ************************************************************************* ' * USE THE APPROPRIATE PULSOUT VALUES TO MAKE YOUR BOE-BOT MOVE BACKWARD * ' * WHILE THE PING))) IS FACING FORWARD. * ' ************************************************************************* Back_Up: ' Back Up FOR pulseCount = 0 TO 40 ' Number Of Pulses To Backup PULSOUT PingServo, 750 ' Ping Servo Forward Pulse Value PULSOUT LeftServo, 650 ' Left Servo Backup Pulse Value PULSOUT RightServo, 850 ' Right Servo Backup Pulse Value PAUSE 20 ' Refresh Delay NEXT RETURN Ping_Out: ' PING))) counter = 0 ' Reset Passive Delay Counter LOW Ping ' Force PING))) Line Low PULSOUT Ping, 5 ' Activate PING))) Pulse PULSIN Ping, 1, distance ' Receive Return Pulse distance = distance ** 2257 ' Calculate Distance RETURN Ping_Around: ' Start 180 Degree Pan-Scan counter = 0 ' Reset Passive Delay Counter oldDistance = 30 ' Current Old Distance Values task = 0 ' Current Task Priority ' ************************************************************************* ' * USE THE APPROPRIATE PULSOUT VALUE TO MAKE YOUR PING))) * ' * TURN 90 DEGREES LEFT. * ' ************************************************************************* FOR pulseCount = 0 TO 20 ' Number Of Pulses To Spin LOW Ping ' Force PING))) Line Low PULSOUT PingServo, 1085 ' Ping Servo 90 Left Pulse Value PULSOUT Ping, 5 ' Activate PING))) PULSIN Ping, 1, distance ' Receive Distance Value PAUSE 20 ' Refresh Delay NEXT distance = distance ** 2257 ' Calculate Distance In cm IF distance > oldDistance THEN ' Is distance > Last Clear Path oldDistance = distance ' Update oldDistance Value task = 1 ENDIF ' ************************************************************************* ' * USE THE APPROPRIATE PULSOUT VALUE TO MAKE YOUR PING))) * ' * TURN 45 DEGREES LEFT. * ' ************************************************************************* FOR pulseCount = 0 TO 20 ' Number Of Pulses To Spin LOW Ping ' Force PING))) Line Low PULSOUT PingServo, 850 ' Ping Servo 45 Left Pulse Value PULSOUT Ping, 5 ' Activate PING))) PULSIN Ping, 1, distance ' Receive Distance Value PAUSE 20 ' Refresh Delay NEXT distance = distance ** 2257 ' Calculate Distance In cm IF distance > oldDistance THEN ' Is distance > Last Clear Path oldDistance = distance ' Update oldDistance Value task = 2 ENDIF ' ************************************************************************* ' * USE THE APPROPRIATE PULSOUT VALUE TO MAKE YOUR PING))) * ' * TURN 45 DEGREES RIGHT. * ' ************************************************************************* FOR pulseCount = 0 TO 20 ' Number Of Pulses To Spin LOW Ping ' Force PING))) Line Low PULSOUT PingServo, 400 ' Ping Servo 45 Right Pulse Value PULSOUT Ping, 5 ' Activate PING))) PULSIN Ping, 1, distance ' Receive Distance Value PAUSE 20 ' Refresh Delay NEXT distance = distance ** 2257 ' Calculate Distance In cm IF distance > oldDistance THEN ' Is distance > Last Clear Path oldDistance = distance ' Update oldDistance Value task = 3 ENDIF ' ************************************************************************* ' * USE THE APPROPRIATE PULSOUT VALUE TO MAKE YOUR PING))) * ' * TURN 90 DEGREES RIGHT. * ' ************************************************************************* FOR pulseCount = 0 TO 20 ' Number Of Pulses To Spin LOW Ping ' Force PING))) Line Low PULSOUT PingServo, 225 ' Ping Servo 90 Right Pulse Value PULSOUT Ping, 5 ' Activate PING))) PULSIN Ping, 1, distance ' Receive Distance Value PAUSE 20 ' Refresh Delay NEXT distance = distance ** 2257 ' Calculate Distance In cm IF distance > oldDistance THEN ' Is distance > Last Clear Path oldDistance = distance ' Update oldDistance Value task = 4 ENDIF ON task GOSUB Task0, Task1, Task2, Task3, Task4 distance = 50 ' Prevent Scan From Looping RETURN Task0: ' Forward Was Clearest Path GOSUB Turn_Right ' This Could Mean Narrow Path GOSUB Turn_Right ' So We'll Turn Around GOSUB Turn_Right ' You Can Change The Behavior GOSUB Turn_Right ' Of Any Of The Tasks RETURN Task1: ' 90 Degrees Left Was Clearest GOSUB Turn_Left GOSUB Turn_Left RETURN Task2: ' 45 Degrees Left Was Clearest GOSUB Turn_Left RETURN Task3: ' 45 Degrees Right Was Clearest GOSUB Turn_Right RETURN Task4: ' 90 Degrees Right Was Clearest GOSUB Turn_Right GOSUB Turn_Right RETURNI have the PING ))) sensor going to servo port 15, the servo that controls the bracket going to 14.
The IR leds are connected as specified in the Building and testing the IR PAIRS, activity $1 page 237 of the boe bot..... they are working circuits, and they can navigate the activity correctly.
Anyway, I have a standard servo where the left is about 800uS, the center is about 1250uS, and the right is about 1600uS. So, there are variations in manufacturing that you may have to take into account.
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Chris Savage
Parallax Engineering
PS.. according to this code http://www.parallax.com/Portals/0/Downloads/src/prod/RoamingWithPING-V1.0.zip , it does require the leds?
Post Edited (Jimi Freeman) : 1/23/2009 2:44:02 AM GMT
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Chris Savage
Parallax Engineering
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Chris Savage
Parallax Engineering
I think I need to add more weight to the back near the caster? He does this thing where he kinda hops / tilts forward and backwards as moving.....any suggestions?
The extra cell adds weight to the caster and the rear of the BoeBot and it adds about 1.2V to the 4.8V from the standard 4-cell battery holder when you're using rechargables.