Basic Stamp(2) program Boe Bot
Eleuther
Posts: 20
Hi everyone I have been working on the Boe-Bot for some time and I just got the Ping))) and servo mounting bracket. I was wandering if anyone had a program that is just very smooth roaming where the bot doaesnt have to stop every time it encounters something if anyone knows of a program please post. thank you.
Comments
If you're using the Stamp BOE on your 'bot, you'll have to deal with the Stamp only being to do one thing at a time. You can alleviate this to a degree with some tight (read slick) coding and possibly using a ServoPal.
Multiple, fixed pings might help to a degree, but you're still dealing with the single threaded processor.
Good luck!
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' =========================================================================
'
' File...... RoamingWithPING.bs2
' Purpose... Roam And Scan Using PING))) Mounting Bracket
' Author.... Parallax, Inc.
' E-mail.... support@parallax.com
' Started...
' Updated... 12-21-2005
'
' {$STAMP BS2}
' {$PBASIC 2.5}
'
' =========================================================================
'
[ Program Description ]
' This programs demonstrates roaming with the Parallax PING))) Mounting
' Bracket, which allows you to pan-scan with your Parallax PING))) sensor.
'
' This program assumes you have already set your BOE-Bot up for roaming
' with IR sensors. You must also have the PING))) Mounting bracket
' installed as per the instructions, with the servo connected to P14 and
' the PING))) sensor connected to P15.
'
' Due to the way the PING))) bracket mounts you may have to trim your IR
' detectors down so that they don't stick up in the way of the moving
' PING))) bracket as it rotates. It's best to angle them off at 45
' degree angles so that the BOE-Bot doesn't run into anything while
' moving along a wall at a narrow angle.
'
' The BOE-Bot will now roam around and when it senses an object, it will
' scan within a 180 degree field of view for the clearest path, which it
' will then navigate scanning for an object again. The IR Sensors prevent
' hitting a wall when coming at it from a narrow angle where the PING)))
' might have trouble seeing it due to the lack of reflection of sound.
'
' Calibration is important to this code working properly. If you do not
' have the correct values for your servos then you may get strange results
' from your BOE-Bot. The necessary calibration information is listed in
' each section of the code where it is required.
'
[ Revision History ]
' This code is basically a modified version of the Roaming With IR code
' from the Robotics With The BOE-Bot Manual, written by Andy Lindsay.
' Much of the original code was left untouched so you can see how it was
' altered.
'
[ I/O Definitions ]
Piezo PIN 4 ' Piezo Speaker
RightServo PIN 12 ' Right Servo
LeftServo PIN 13 ' Left Servo
PingServo PIN 14 ' PING))) Servo
Ping PIN 15 ' PING))) Sensor
'
[ Variables ]
irDetectLeft VAR Bit ' Variable For Left IR Input
irDetectRight VAR Bit ' Variable For Right IR Input
pulseCount VAR Byte ' Used For Measuring Turns
distance VAR Word ' Current Distance Of Object
oldDistance VAR Word ' Old Distance Value
counter VAR Word ' PING))) Cycle Counter
task VAR Nib ' Current Task
'
[ Initialization ]
FREQOUT Piezo, 2000, 3000 ' Signal Program Start/Reset
'
[ Program Code ]
Main:
DO
FREQOUT 8, 1, 38500 ' Emit 38.5 kHz IR To Left
irDetectLeft = IN9 ' Store IR Detection Values
FREQOUT 2, 1, 38500 ' Emit 38.5 kHz IR To Right
irDetectRight = IN0 ' Store IR Detection Values
IF (irDetectLeft = 0) AND (irDetectRight = 0) THEN
GOSUB Ping_Around ' Object Detected via IR Forward
ELSEIF (irDetectLeft = 0) THEN
GOSUB Ping_Around ' Object Detected via IR Left
ELSEIF (irDetectRight = 0) THEN
GOSUB Ping_Around ' Object Detected via IR Right
ENDIF
counter = counter + 1 ' Increment Passive Counter
IF counter > 10 THEN ' Wait For 10 Servo Pulses
GOSUB Ping_Out ' Activate PING)))
ENDIF
IF (distance > 30) THEN ' Is Object Farther Than 30 cm?
GOSUB Forward_Pulse ' If Yes Go Forward
ELSE
GOSUB Ping_Around ' Otherwise Scan For Clear Path
ENDIF
LOOP
'
[ Subroutines ]
' *************************************************************************
' * USE THE APPROPRIATE PULSOUT VALUES TO MAKE YOUR BOE-BOT MOVE FORWARD *
' * WHILE THE PING))) IS FACING FORWARD. *
' *************************************************************************
Forward_Pulse: ' Send A Single Forward Pulse
PULSOUT PingServo, 750 ' Ping Servo Forward Pulse Value
PULSOUT LeftServo, 850 ' Left Servo Forward Pulse Value
PULSOUT RightServo, 650 ' Right Servo Forward Pulse Value
PAUSE 20 ' Refresh Delay
RETURN
' *************************************************************************
' * USE THE APPROPRIATE PULSOUT VALUES TO MAKE YOUR BOE-BOT TURN LEFT 90 *
' * DEGREES. USE THE SAME VALUE AS ABOVE FOR THE PING))) BRACKET SERVO. *
' *************************************************************************
Turn_Left: ' Left Turn, About 45 Degrees
FOR pulseCount = 0 TO 7 ' Number Of Pulses To Turn
PULSOUT PingServo, 750 ' Ping Servo Forward Pulse Value
PULSOUT LeftServo, 650 ' Left Servo Left Pulse Value
PULSOUT RightServo, 650 ' Right Servo Left Pulse Value
PAUSE 20 ' Refresh Delay
NEXT
RETURN
' *************************************************************************
' * USE THE APPROPRIATE PULSOUT VALUES TO MAKE YOUR BOE-BOT TURN RIGHT 90 *
' * DEGREES. USE THE SAME VALUE AS ABOVE FOR THE PING))) BRACKET SERVO. *
' *************************************************************************
Turn_Right: ' Right Turn, About 45 Degrees
FOR pulseCount = 0 TO 7 ' Number Of Pulses To Turn
PULSOUT PingServo, 750 ' Ping Servo Forward Pulse Value
PULSOUT LeftServo, 850 ' Left Servo Right Pulse Value
PULSOUT RightServo, 850 ' Right Servo Right Pulse Value
PAUSE 20 ' Refresh Delay
NEXT
RETURN
' *************************************************************************
' * USE THE APPROPRIATE PULSOUT VALUES TO MAKE YOUR BOE-BOT MOVE BACKWARD *
' * WHILE THE PING))) IS FACING FORWARD. *
' *************************************************************************
Back_Up: ' Back Up
FOR pulseCount = 0 TO 40 ' Number Of Pulses To Backup
PULSOUT PingServo, 750 ' Ping Servo Forward Pulse Value
PULSOUT LeftServo, 650 ' Left Servo Backup Pulse Value
PULSOUT RightServo, 850 ' Right Servo Backup Pulse Value
PAUSE 20 ' Refresh Delay
NEXT
RETURN
Ping_Out: ' PING)))
counter = 0 ' Reset Passive Delay Counter
LOW Ping ' Force PING))) Line Low
PULSOUT Ping, 5 ' Activate PING))) Pulse
PULSIN Ping, 1, distance ' Receive Return Pulse
distance = distance ** 2257 ' Calculate Distance
RETURN
Ping_Around: ' Start 180 Degree Pan-Scan
counter = 0 ' Reset Passive Delay Counter
oldDistance = 30 ' Current Old Distance Values
task = 0 ' Current Task Priority
' *************************************************************************
' * USE THE APPROPRIATE PULSOUT VALUE TO MAKE YOUR PING))) *
' * TURN 90 DEGREES LEFT. *
' *************************************************************************
FOR pulseCount = 0 TO 20 ' Number Of Pulses To Spin
LOW Ping ' Force PING))) Line Low
PULSOUT PingServo, 1085 ' Ping Servo 90 Left Pulse Value
PULSOUT Ping, 5 ' Activate PING)))
PULSIN Ping, 1, distance ' Receive Distance Value
PAUSE 20 ' Refresh Delay
NEXT
distance = distance ** 2257 ' Calculate Distance In cm
IF distance > oldDistance THEN ' Is distance > Last Clear Path
oldDistance = distance ' Update oldDistance Value
task = 1
ENDIF
' *************************************************************************
' * USE THE APPROPRIATE PULSOUT VALUE TO MAKE YOUR PING))) *
' * TURN 45 DEGREES LEFT. *
' *************************************************************************
FOR pulseCount = 0 TO 20 ' Number Of Pulses To Spin
LOW Ping ' Force PING))) Line Low
PULSOUT PingServo, 850 ' Ping Servo 45 Left Pulse Value
PULSOUT Ping, 5 ' Activate PING)))
PULSIN Ping, 1, distance ' Receive Distance Value
PAUSE 20 ' Refresh Delay
NEXT
distance = distance ** 2257 ' Calculate Distance In cm
IF distance > oldDistance THEN ' Is distance > Last Clear Path
oldDistance = distance ' Update oldDistance Value
task = 2
ENDIF
' *************************************************************************
' * USE THE APPROPRIATE PULSOUT VALUE TO MAKE YOUR PING))) *
' * TURN 45 DEGREES RIGHT. *
' *************************************************************************
FOR pulseCount = 0 TO 20 ' Number Of Pulses To Spin
LOW Ping ' Force PING))) Line Low
PULSOUT PingServo, 400 ' Ping Servo 45 Right Pulse Value
PULSOUT Ping, 5 ' Activate PING)))
PULSIN Ping, 1, distance ' Receive Distance Value
PAUSE 20 ' Refresh Delay
NEXT
distance = distance ** 2257 ' Calculate Distance In cm
IF distance > oldDistance THEN ' Is distance > Last Clear Path
oldDistance = distance ' Update oldDistance Value
task = 3
ENDIF
' *************************************************************************
' * USE THE APPROPRIATE PULSOUT VALUE TO MAKE YOUR PING))) *
' * TURN 90 DEGREES RIGHT. *
' *************************************************************************
FOR pulseCount = 0 TO 20 ' Number Of Pulses To Spin
LOW Ping ' Force PING))) Line Low
PULSOUT PingServo, 225 ' Ping Servo 90 Right Pulse Value
PULSOUT Ping, 5 ' Activate PING)))
PULSIN Ping, 1, distance ' Receive Distance Value
PAUSE 20 ' Refresh Delay
NEXT
distance = distance ** 2257 ' Calculate Distance In cm
IF distance > oldDistance THEN ' Is distance > Last Clear Path
oldDistance = distance ' Update oldDistance Value
task = 4
ENDIF
ON task GOSUB Task0, Task1, Task2, Task3, Task4
distance = 50 ' Prevent Scan From Looping
RETURN
Task0: ' Forward Was Clearest Path
GOSUB Forward_Pulse ' This Could Mean Narrow Path
GOSUB Forward_Pulse ' So We'll Turn Around
GOSUB Forward_Pulse ' You Can Change The Behavior
GOSUB Forward_Pulse ' Of Any Of The Tasks
RETURN
Task1: ' 90 Degrees Left Was Clearest
GOSUB Turn_Left
GOSUB Turn_Left
RETURN
Task2: ' 45 Degrees Left Was Clearest
GOSUB Turn_Left
RETURN
Task3: ' 45 Degrees Right Was Clearest
GOSUB Turn_Right
RETURN
Task4: ' 90 Degrees Right Was Clearest
GOSUB Turn_Right
GOSUB Turn_Right
RETURN
BTW - one last bit of kindness would be to mark this thread as "solved".
Later!