measureing time of travel

Jeena99

I am working on a project and I am using Boe Bot robot and basic stamp Micrcntroller
I·want to use ·Whiskers to measure the time the robot has travelled without hitting an obsticle·.
And I am ·thinking·how to write the code·...
I want to avoid relying on a for lop counter to measure the time.
So I thought of using the methode COUNT

I appreciate any help or suggessions
Thanx

Post Edited (Jeena99) : 11/22/2009 8:13:57 AM GMT

PJAllen

You could use a real-time clock, but that has·resolution only·to seconds (no fractional seconds).

If/when the BoE-bot encounters an obstacle it could then read the time and then compare to that of the·previous obstacle/event.

Post Edit -- You could (??) increment a variable (Word)·each time you pass through a servo refresh routine, but that would have a top-end limitation (appx 20 min.)· Still, not real exacting.

Post Edited (PJ Allen) : 11/25/2009 10:04:49 PM GMT

Zoot

Use a 555 timer setup to output a square wave at, say, 2hz (that will give you a tick every 1/2 second, and since we'll be measuring edges, you'll get 1/4 second increments on your internal "timer").

Hook the output of the 555 circuit up to an input pin, then:

DO
' do some stuff

' output to motors
PULSOUT, x,y,z
PULSOUT, x,y,z

'update time
IF whiskerL = 1 AND whiskerR = 1 THEN ' both off
   IF timeCount.BIT0 <> clock555pin THEN
       timeCount = timeCount + 1
   ENDIF
ELSE
   timeCount = 0
ENDIF

IF timeCount > 120 THEN ' approx 30 seconds
    DEBUG "whoa, 30 seconds without an obstacle"
ENDIF

LOOP

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

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

Jeena99

Thank u so much PJ and Zoot
What you`ve said is really helpful


Jeena