Hepl with PING))

LAZach · 2012-05-18 14:33

I bought a Boe-Bot with a Rev J chip and I've had the hardest time getting the PING)) programs to work properly. First, the program to run the PING)) with encoders wouldn't work properly until I changed the advanceForward subroutine by adding a pause 30. Now I am trying to run the RoamingWithPing program with my IR sensors and it wont got forward, it just turns either the right or left. I need help please!!!!

Franklin · 2012-05-18 21:50

I've had the hardest time getting the PING)) programs to work properly

have you tried any of the PING))) demo code (without any other code to corrupt the results? Have you checked to see what the PING))) is sending to the debug terminal? Have you tried the IR sensors alone? Let us know.

xanadu · 2012-05-19 13:21

Copy and paste code here.

LAZach · 2012-05-24 16:50

Here is the code that I used, when I run the program my robot wont go forward, just turns back and forth.

' RoamingWithPING.bs2
' Roam And Scan Using PING))) Mounting Bracket

' {$STAMP BS2}
' {$PBASIC 2.5}

'

[ I/O Definitions ]

Piezo PIN 4
RightServo PIN 12
LeftServo PIN 13
PingServo PIN 14
Ping PIN 15

'

[ Variables ]

irDetectLeft VAR Bit
irDetectRight VAR Bit
pulseCount VAR Byte
distance VAR Word
oldDistance VAR Word
counter VAR Word
task VAR Nib

'

[ Initialization ]

FREQOUT Piezo, 2000, 3000

'

[ Program Code ]

Main:
DO

FREQOUT 8, 1, 38500
irDetectLeft = IN9

FREQOUT 2, 1, 38500
irDetectRight = IN0

IF (irDetectLeft = 0) AND (irDetectRight = 0) THEN
GOSUB Ping_Around
ELSEIF (irDetectLeft = 0) THEN
GOSUB Ping_Around
ELSEIF (irDetectRight = 0) THEN
GOSUB Ping_Around
ENDIF

counter = counter + 1

IF counter > 10 THEN
GOSUB Ping_Out
ENDIF

IF (distance > 30) THEN
GOSUB Forward_Pulse
ELSE
GOSUB Ping_Around
ENDIF

LOOP

'

[ Subroutines ]

Forward_Pulse:
PULSOUT PingServo, 750
PULSOUT LeftServo, 850
PULSOUT RightServo, 650
PAUSE 20
RETURN

Turn_Left:
FOR pulseCount = 0 TO 7
PULSOUT PingServo, 750
PULSOUT LeftServo, 650
PULSOUT RightServo, 650
PAUSE 20
NEXT
RETURN

Turn_Right:
FOR pulseCount = 0 TO 7
PULSOUT PingServo, 750
PULSOUT LeftServo, 850
PULSOUT RightServo, 850
PAUSE 20
NEXT
RETURN

Back_Up:
FOR pulseCount = 0 TO 40
PULSOUT PingServo, 750
PULSOUT LeftServo, 650
PULSOUT RightServo, 850
PAUSE 20
NEXT
RETURN

Ping_Out:
counter = 0
LOW Ping
PULSOUT Ping, 5
PULSIN Ping, 1, distance
distance = distance ** 2257
RETURN

Ping_Around:
counter = 0
oldDistance = 30
task = 0

FOR pulseCount = 0 TO 20
LOW Ping
PULSOUT PingServo, 1085
PULSOUT Ping, 5
PULSIN Ping, 1, distance
PAUSE 20
NEXT

distance = distance ** 2257
IF distance > oldDistance THEN
oldDistance = distance
task = 1
ENDIF

FOR pulseCount = 0 TO 20
LOW Ping
PULSOUT PingServo, 850
PULSOUT Ping, 5
PULSIN Ping, 1, distance
PAUSE 20
NEXT

distance = distance ** 2257
IF distance > oldDistance THEN
oldDistance = distance
task = 2
ENDIF

FOR pulseCount = 0 TO 20
LOW Ping
PULSOUT PingServo, 400
PULSOUT Ping, 5
PULSIN Ping, 1, distance
PAUSE 20
NEXT

distance = distance ** 2257
IF distance > oldDistance THEN
oldDistance = distance
task = 3
ENDIF

FOR pulseCount = 0 TO 20
LOW Ping
PULSOUT PingServo, 225
PULSOUT Ping, 5
PULSIN Ping, 1, distance
PAUSE 20
NEXT

distance = distance ** 2257
IF distance > oldDistance THEN
oldDistance = distance
task = 4
ENDIF

ON task GOSUB Task0, Task1, Task2, Task3, Task4

distance = 50

RETURN

Task0:
GOSUB Turn_Right
GOSUB Turn_Right
GOSUB Turn_Right
GOSUB Turn_Right
RETURN

Task1:
GOSUB Turn_Left
GOSUB Turn_Left
RETURN

Task2:
GOSUB Turn_Left
RETURN

Task3:
GOSUB Turn_Right
RETURN

Task4:
GOSUB Turn_Right
GOSUB Turn_Right
RETURN

Nick Ernst · 2012-05-25 10:28

LAzach,
That code has some issues, I tried running it on one of my bots just to see if it would work, and no joy! Run this code, and you will be roaming around your house in no time!

http://www.parallax.com/Portals/0/Downloads/src/prod/RoamingWithPING-Simple-V1.0.zip

-Nick

LAZach · 2012-06-25 14:21

Nick,
Thank you that program worked great!!!!!

LAZach

Hepl with PING))

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