Combining whisker and IR

justme · 2010-12-04 13:06

I am fairly new to the boe bot, i just got mine in last week. I have been doing some of the sample codes in the book but i want to try and combine them.

Specifically, I am trying to combine the roaming with whisker and avoid table edge. I cant seem to make them work right. Can anyone help?

Franklin · 2010-12-04 13:24

Sure, attach your code and we can help.

justme · 2010-12-04 13:32

DEBUG "Program Running!"
' variables

irDetectLeft VAR Bit ' Variable declarations.
irDetectRight VAR Bit
pulseLeft VAR Word
pulseRight VAR Word
loopCount VAR Byte
pulseCount VAR Byte

FREQOUT 4, 2000, 3000 ' Signal program start/reset.

DO ' Main Routine.

'

IR program

FREQOUT 8, 1, 38500 ' Check IR detectors.
irDetectLeft = IN9

FREQOUT 2, 1, 38500
irDetectRight = IN0
' Decide navigation.

IF (irDetectLeft = 0) AND (irDetectRight = 0) THEN
pulseCount = 1 ' Both detected,
pulseLeft = 850 ' one pulse forward.
pulseRight = 650

ELSEIF (irDetectRight = 1) THEN ' Right not detected,
pulseCount = 10 ' 10 pulses left.
pulseLeft = 650
pulseRight = 650

ELSEIF (irDetectLeft = 1) THEN ' Left not detected,
pulseCount = 10 ' 10 pulses right.
pulseLeft = 850
pulseRight = 850

ELSE ' Neither detected,
pulseCount = 15 ' back up and try again.
pulseLeft = 650
pulseRight = 850

ENDIF
FOR loopCount = 1 TO pulseCount ' Send pulseCount pulses
PULSOUT 13,pulseLeft
PULSOUT 12,pulseRight
PAUSE 20
NEXT
LOOP

'

[ whisker ]

IF (IN5 = 0) AND (IN7 = 0) THEN ' Both whiskers detect obstacle
GOSUB Back_Up ' Back up & U-turn (left twice)
GOSUB Turn_Left
GOSUB Turn_Left

ELSEIF (IN5 = 0) THEN ' Left whisker contacts
GOSUB Back_Up ' Back up & turn right
GOSUB Turn_Right

ELSEIF (IN7 = 0) THEN ' Right whisker contacts
GOSUB Back_Up ' Back up & turn left
GOSUB Turn_Left

ELSE ' Both whiskers 1, no contacts
GOSUB Forward_Pulse ' Apply a forward pulse

ENDIF ' and check again
LOOP

'

[ Subroutines ]

Forward_Pulse: ' Send a single forward pulse.
PULSOUT 13,850
PULSOUT 12,650
PAUSE 20
RETURN

Turn_Left: ' Left turn, about 90-degrees.
FOR pulseCount = 0 TO 20
PULSOUT 13, 650
PULSOUT 12, 650
PAUSE 20
NEXT
RETURN

Turn_Right:
FOR pulseCount = 0 TO 20 ' Right turn, about 90-degrees.
PULSOUT 13, 850
PULSOUT 12, 850
PAUSE 20
NEXT
RETURN

Back_Up: ' Back up.
FOR pulseCount = 0 TO 40
PULSOUT 13, 650
PULSOUT 12, 850
PAUSE 20
NEXT
RETURN

Franklin · 2010-12-04 14:40

OK, first thing is the whisker part will never run because the ir part is a loop that never allows the program to get there. Since the whisker part has the better written (subroutines) code just add the code from the ir (if irdetectleft...... ) into the code as an OR statement

DO
If whisker_left = hit OR ir_left = toclose then
GOSUB move_more_right
LOOP

Combining whisker and IR

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