Multiple Tasks in a Do...Loop
surfline27
Posts: 8
Hi there,
I'm using the Boe-Bot kit with Basic Stamp Editor to complete a "mission" which is to make the Boe-Bot navigate through an obstacle course (which is a white floor surrounded by black spray paint as a border) and stop when it detects a bright light near it using the phototransistor (like a desk lamp pointing downwards). I have used whiskers, IR sensors and a phototransistor.
My problem is that I have all the stuff I need each part to do its task but I'm having trouble putting it all together in one Do...Loop statement
For example to go through the course I would make it:
1. Check ambient light (before the Do...Loop statement)
2. Check IR sensors (for sensing black)
3. Check whiskers (for objects in the way)
4. And then start moving through the course
I tried this:
(Check Ambient light)
Do
IF...Then... (for IR sensors with a bunch of ElseIf statements in it for the left and right sensors)
ElseIf...Then...(whiskers with a bunch of ElseIf statements in it for the left and right whiskers)
ElseIf...Then...(checking for the desk lamp)
EndIf
(code for moving forward)
Loop
But it doesn't do all the tasks....it will detect the black with the IR sensors and avoid it but if one of the whiskers is hit, it won't do anything about it (it will keep moving forward).
How do I put it all together in the Do...Loop statement so it can perform whatever task is needed?
Any help would be appreciated
I'm using the Boe-Bot kit with Basic Stamp Editor to complete a "mission" which is to make the Boe-Bot navigate through an obstacle course (which is a white floor surrounded by black spray paint as a border) and stop when it detects a bright light near it using the phototransistor (like a desk lamp pointing downwards). I have used whiskers, IR sensors and a phototransistor.
My problem is that I have all the stuff I need each part to do its task but I'm having trouble putting it all together in one Do...Loop statement
For example to go through the course I would make it:
1. Check ambient light (before the Do...Loop statement)
2. Check IR sensors (for sensing black)
3. Check whiskers (for objects in the way)
4. And then start moving through the course
I tried this:
(Check Ambient light)
Do
IF...Then... (for IR sensors with a bunch of ElseIf statements in it for the left and right sensors)
ElseIf...Then...(whiskers with a bunch of ElseIf statements in it for the left and right whiskers)
ElseIf...Then...(checking for the desk lamp)
EndIf
(code for moving forward)
Loop
But it doesn't do all the tasks....it will detect the black with the IR sensors and avoid it but if one of the whiskers is hit, it won't do anything about it (it will keep moving forward).
How do I put it all together in the Do...Loop statement so it can perform whatever task is needed?
Any help would be appreciated
Comments
' {$STAMP BS2} ' {$PBASIC 2.5} irDetectLeft VAR Bit ' Variable Declarations irDetectRight VAR Bit pulseLeft VAR Word pulseRight VAR Word pulseCount VAR Byte Initial_Light_Level VAR Word Other_Ligh_Level VAR Word HIGH 6 ' 1 Set P6 high to start charging PAUSE 1 ' 2 Wait for cap to charge RCTIME 6, 1, Initial_Light_Level ' 3 P6->input, measure decay time DO FREQOUT 8, 1, 38500 ' Check IR Detectors irDetectLeft = IN9 FREQOUT 2, 1, 38500 irDetectRight = IN0 '------IR SENSORS------------------------------------------------------------------- IF (irDetectLeft = 1) AND (irDetectRight = 1) THEN HIGH 10 HIGH 1 pulseLeft = 700 pulseRight = 850 ELSEIF (irDetectRight = 1) THEN LOW 10 HIGH 1 pulseLeft = 710 pulseRight = 650 ELSEIF (irDetectLeft = 1) THEN HIGH 10 LOW 1 pulseLeft = 850 pulseRight = 790 ELSEIF (irDetectLeft = 0) AND (irDetectRight = 0) THEN LOW 10 LOW 1 pulseLeft = 800 pulseRight = 650 '-----WHISKERS----------------------------------------------------------------- ELSEIF (IN7 = 0) AND (IN11 = 0) THEN ' Both whiskers detect obstacle HIGH 10 HIGH 1 FOR pulseCount = 0 TO 10 ' Back up pulseLeft = 700 pulseRight = 850 PAUSE 20 NEXT RETURN FOR pulseCount = 0 TO 8 ' Left pulseLeft = 650 pulseRight = 650 PAUSE 20 NEXT RETURN ' Left FOR pulseCount = 0 TO 8 pulseLeft = 650 pulseRight = 650 PAUSE 20 NEXT RETURN ELSEIF (IN7 = 0) THEN ' Left whisker contacts HIGH 10 LOW 1 FOR pulseCount = 0 TO 10 ' Back up pulseLeft = 700 pulseRight = 850 PAUSE 20 NEXT RETURN FOR pulseCount = 0 TO 8 ' Right pulseLeft = 850 pulseRight = 850 PAUSE 20 NEXT RETURN ELSEIF (IN11 = 0) THEN ' Right whisker contacts LOW 10 HIGH 1 FOR pulseCount = 0 TO 10 ' Back up pulseLeft = 700 pulseRight = 850 PAUSE 20 NEXT RETURN FOR pulseCount = 0 TO 8 ' Left pulseLeft = 650 pulseRight = 650 PAUSE 20 NEXT RETURN ELSEIF (IN7 = 1) AND (IN11 = 1) THEN pulseLeft = 800 pulseRight= 650 ENDIF PULSOUT 13,pulseLeft PULSOUT 12,pulseRight PAUSE 15 LOOPThe part that I haven't finished yet is to check for the desk lamp light at the end
' {$STAMP BS2} ' {$PBASIC 2.5} irDetectLeft VAR Bit ' Variable Declarations irDetectRight VAR Bit pulseLeft VAR Word pulseRight VAR Word pulseCount VAR Byte Initial_Light_Level VAR Word Other_Ligh_Level VAR Word HIGH 6 ' 1 Set P6 high to start charging PAUSE 1 ' 2 Wait for cap to charge RCTIME 6, 1, Initial_Light_Level ' 3 P6->input, measure decay time DO FREQOUT 12, 1, 38500 ' Check IR Detectors irDetectLeft = IN14 FREQOUT 2, 1, 38500 irDetectRight = IN0 '------[ IR SENSORS ]------------------------------------------------------------------- IF (irDetectLeft = 1) AND (irDetectRight = 1) THEN HIGH 15 HIGH 1 pulseLeft = 700 pulseRight = 850 ELSEIF (irDetectRight = 1) THEN LOW 15 HIGH 1 pulseLeft = 710 pulseRight = 650 ELSEIF (irDetectLeft = 1) THEN HIGH 15 LOW 1 pulseLeft = 850 pulseRight = 790 ELSE LOW 15 LOW 1 pulseLeft = 800 pulseRight = 650 ENDIF '-----[ WHISKERS ]----------------------------------------------------------------- IF (IN7 = 0) AND (IN11 = 0) THEN ' Both whiskers detect obstacle HIGH 15 HIGH 1 GOSUB Back_Up ' Back up & U-turn (left twice) GOSUB Turn_Left GOSUB Turn_Left GOSUB Turn_Left GOSUB Turn_Left ELSEIF (IN7 = 0) THEN ' Left whisker contacts HIGH 15 LOW 1 GOSUB Back_Up ' Back up & turn right GOSUB Turn_Right ELSEIF (IN11 = 0) THEN ' Right whisker contacts LOW 15 HIGH 1 GOSUB Back_Up ' Back up & turn left GOSUB Turn_Left ELSE ' Both whiskers 1, no contacts LOW 15 LOW 1 GOSUB Forward_Pulse ' Apply a forward pulse ENDIF ' and check again PULSOUT 13,pulseLeft PULSOUT 12,pulseRight PAUSE 15 LOOP ' -----[ WHISKER Subroutines ]-------------------------------------------------------- Forward_Pulse: ' Send a single forward pulse. PULSOUT 13,800 PULSOUT 12,650 PAUSE 20 RETURN Turn_Left: ' Left turn, about 90-degrees. FOR pulseCount = 0 TO 10 PULSOUT 13, 650 PULSOUT 12, 650 PAUSE 20 NEXT RETURN Turn_Right: FOR pulseCount = 0 TO 10 ' Right turn, about 90-degrees. PULSOUT 13, 850 PULSOUT 12, 850 PAUSE 20 NEXT RETURN Back_Up: ' Back up. FOR pulseCount = 0 TO 10 PULSOUT 13, 700 PULSOUT 12, 850 PAUSE 20 NEXT RETURNThis is how it looks so far after changing some stuff:
' {$STAMP BS2} ' {$PBASIC 2.5} irDetectLeft VAR Bit ' Variable Declarations irDetectRight VAR Bit pulseLeft VAR Word pulseRight VAR Word pulseCount VAR Byte tLeft VAR Word PWM 6, 80, 1 ' Charge cap to 3.59 V RCTIME 6, 1,tLeft PAUSE 100 DO UNTIL tLeft = 0 FREQOUT 12, 1, 38500 ' Check IR Detectors irDetectLeft = IN14 FREQOUT 2, 1, 38500 irDetectRight = IN0 '------[ IR SENSORS ]------------------------------------------------------------------- IF (irDetectLeft = 1) AND (irDetectRight = 1) THEN HIGH 15 HIGH 1 GOSUB Back_Up ELSEIF (irDetectRight = 1) THEN LOW 15 HIGH 1 GOSUB Turn_Left ELSEIF (irDetectLeft = 1) THEN HIGH 15 LOW 1 GOSUB Turn_Right ELSE LOW 15 LOW 1 GOSUB Forward_Pulse ENDIF '-----[ WHISKERS ]----------------------------------------------------------------- IF (IN7 = 0) AND (IN11 = 0) THEN ' Both whiskers detect obstacle HIGH 15 HIGH 1 GOSUB Back_Up ' Back up & U-turn (left twice) GOSUB Turn_Left GOSUB Turn_Left GOSUB Turn_Left GOSUB Turn_Left ELSEIF (IN7 = 0) THEN ' Left whisker contacts HIGH 15 LOW 1 GOSUB Back_Up ' Back up & turn right GOSUB Turn_Right ELSEIF (IN11 = 0) THEN ' Right whisker contacts LOW 15 HIGH 1 GOSUB Back_Up ' Back up & turn left GOSUB Turn_Left ELSE ' Both whiskers 1, no contacts LOW 15 LOW 1 GOSUB Forward_Pulse ' Apply a forward pulse ENDIF ' and check again PULSOUT 13,pulseLeft PULSOUT 12,pulseRight PAUSE 15 LOOP ' -----[ WHISKER Subroutines ]-------------------------------------------------------- Forward_Pulse: ' Send a single forward pulse. PULSOUT 13,800 PULSOUT 12,650 PAUSE 20 RETURN Turn_Left: ' Left turn, about 90-degrees. FOR pulseCount = 0 TO 10 PULSOUT 13, 650 PULSOUT 12, 650 PAUSE 20 NEXT RETURN Turn_Right: FOR pulseCount = 0 TO 10 ' Right turn, about 90-degrees. PULSOUT 13, 850 PULSOUT 12, 850 PAUSE 20 NEXT RETURN Back_Up: ' Back up. FOR pulseCount = 0 TO 10 PULSOUT 13, 700 PULSOUT 12, 850 PAUSE 20 NEXT RETURNThanks for all your help guys.
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