BOE, IR + Gripper
Nishi .
Posts: 23
Hi, I'm new to the forum and to the world of robotics. I bought a BOE-Bot and a few accessories the other day and basically stayed up working through the book over the following 2 days. I have to say it was a great fun and I've learned a lot. But I'm still lacking in know how.
Last night after successfully getting BOE roaming with an ultrasonic ping sensor, I decided to break open and start to construct the 'Gripper' kit, it took me about an hour to fully construct and attach it, by which time I started to look for some example code I could try to modify or use as a jump point, but I couldn't find any. (I must have become spoiled by the abundance of sample code and examples for the ping sensor and panning kit) So far Ive written one test program, and another very sloppy 'fetch and run' program neither are very practical, but the gripperIF may help as a starting point for someone (green in robotics) with a kit and no code like me.
But I'm still looking, so If you know of any practical gripper PBASIC code floating about please link me...
ps. (edited for spelling + is this the right forum to post this?)
Post Edited (Tao) : 1/9/2010 3:11:10 AM GMT
Last night after successfully getting BOE roaming with an ultrasonic ping sensor, I decided to break open and start to construct the 'Gripper' kit, it took me about an hour to fully construct and attach it, by which time I started to look for some example code I could try to modify or use as a jump point, but I couldn't find any. (I must have become spoiled by the abundance of sample code and examples for the ping sensor and panning kit) So far Ive written one test program, and another very sloppy 'fetch and run' program neither are very practical, but the gripperIF may help as a starting point for someone (green in robotics) with a kit and no code like me.
' BOEGripperIF.bs2 SIMPLE BOE-Bot Gripper Test Using Infra Red Detection by Nishi
' {$STAMP BS2}
' {$PBASIC 2.5}
DEBUG "Program Running!"
irDetectLeft VAR Bit ' Variable Declarations..
irDetectRight VAR Bit
pulseLeft VAR Word
pulseRight VAR Word
pulseGrip VAR Word
FREQOUT 4, 2000, 3000 ' Signal program start/reset..
DO ' Main Routine..
FREQOUT 8, 1, 38500 ' Check IR Detectors..
irDetectLeft = IN9
FREQOUT 2, 1, 38500
irDetectRight = IN0
' Gripper Action..
IF (irDetectLeft = 0) AND (irDetectRight = 0) THEN 'Gripper IF..
pulseGrip = 1000 ' Close Gripper
ELSE
pulseGrip = 500 ' Open Gripper
ENDIF
PAUSE 20 '(we PAUSE otherwise the servo hums,
'gotta give the program time to run.)
PULSOUT 13,pulseLeft ' Apply the pulse..
PULSOUT 12,pulseRight
PULSOUT 14,pulseGrip
LOOP
But I'm still looking, so If you know of any practical gripper PBASIC code floating about please link me...
ps. (edited for spelling + is this the right forum to post this?)
Post Edited (Tao) : 1/9/2010 3:11:10 AM GMT