Need help on the old Boe-Bot IR Roaming Code

Lifedrive · 2015-05-08 05:59

Hi,
I'm using Bs2p24, my boe-bot able to roam but the response/reaction is very slow with the left & right IR pairs. Once it detects an object, it takes about 2 seconds to react.
I did a test on the DEBUG, it seems to work properly as it changes state almost immediate.

Can anyone help me? Thank you.

Here's the code I'm using:

'

[ Title ]

' Robotics with the Boe-Bot - RoamingWithIr.bs2
' Adapt RoamingWithWhiskers.bs2 for use with IR object detectors.
' {$STAMP BS2p} ' Stamp directive.
' {$PBASIC 2.5} ' PBASIC directive.
'

[ Variables ]

irDetectLeft VAR Bit
irDetectRight VAR Bit
pulseCount VAR Byte
'

[ Initialization ]

FREQOUT 9, 5000, 300 ' display start delay
'

[ Main Routine ]

DO
FREQOUT 7, 1, 38500 ' Store IR detection values in
irDetectLeft = IN6 ' bit variables.
FREQOUT 5, 1, 38500
irDetectRight = IN4
IF (irDetectLeft = 0) AND (irDetectRight = 0) THEN
GOSUB Back_Up ' Both detect obstacle
GOSUB Turn_Left ' Back up & U-turn (left twice)
GOSUB Turn_Left
ELSEIF (irDetectLeft = 0) THEN ' Left detects
GOSUB Back_Up ' Back up & turn right
GOSUB Turn_Right
ELSEIF (irDetectRight = 0) THEN ' Right detects
GOSUB Back_Up ' Back up & turn left
GOSUB Turn_Left
ELSE ' None detect
GOSUB Forward_Pulse ' Apply a forward pulse
ENDIF ' and check again
LOOP

'

[ Subroutines ]

Forward_Pulse: ' Send a single forward pulse.
PULSOUT 14,2125
PULSOUT 13,1625
PAUSE 20
RETURN
Turn_Left: ' Left turn, about 90-degrees.
FOR pulseCount = 0 TO 20
PULSOUT 13, 1625
PULSOUT 14, 1625
PAUSE 20
NEXT
RETURN
Turn_Right:
FOR pulseCount = 0 TO 20 ' Right turn, about 90-degrees.
PULSOUT 13, 2125
PULSOUT 14, 2125
PAUSE 20
NEXT
RETURN
Back_Up: ' Back up.
FOR pulseCount = 0 TO 40
PULSOUT 13, 1625
PULSOUT 14, 2125
PAUSE 20
NEXT
RETURN

Steph Lindsay · 2015-05-08 11:23

I see you have adjusted your PULSOUT arguments to take into account the timing differences between the BS2 and BS2p.

The FREQOUT Duration and Freq1 arguments would also need to be adjusted for the IR emitters. We are going to try FREQOUT pin, 4, 7171 on a BS2p Boe-Bot and will let you know what happens.

Lifedrive · 2015-05-08 12:52

Steph Lindsay wrote: »

I see you have adjusted your PULSOUT arguments to take into account the timing differences between the BS2 and BS2p.

The FREQOUT Duration and Freq1 arguments would also need to be adjusted for the IR emitters. We are going to try FREQOUT pin, 4, 7171 on a BS2p Boe-Bot and will let you know what happens.

Hi, Thank for replying. I did try out as suggested with FREQOUT pin, 4, 7171 , it doesn't work. However now the boe-bot response in time with the IR detection. What I did is, I removed the "Back_Up" subroutine. Now I need another help on figuring out why this subroutine either caused the problem and also it doesn't work. I'm not sure what is wrong with it. Please help me with this as this "Back_Up" subroutine is much needed.

Thank you.

This is what I did:

'

[ Title ]

' Robotics with the Boe-Bot - RoamingWithIr.bs2
' Adapt RoamingWithWhiskers.bs2 for use with IR object detectors.
' {$STAMP BS2p} ' Stamp directive.
' {$PBASIC 2.5} ' PBASIC directive.
'

[ Variables ]

irDetectLeft VAR Bit
irDetectRight VAR Bit
pulseCount VAR Byte
'

[ Initialization ]

FREQOUT 9, 5000, 300 ' display start delay
'

[ Main Routine ]

DO
FREQOUT 7, 1, 38500 ' Store IR detection values in
irDetectLeft = IN6 ' bit variables.
FREQOUT 5, 1, 38500
irDetectRight = IN4
IF (irDetectLeft = 0) AND (irDetectRight = 0) THEN
GOSUB Back_Up ' Both detect obstacle <--- I REMOVED THIS
GOSUB Turn_Left ' Back up & U-turn (left twice)
GOSUB Turn_Left
ELSEIF (irDetectLeft = 0) THEN ' Left detects
GOSUB Back_Up ' Back up & turn right <--- I REMOVED THIS
GOSUB Turn_Right
ELSEIF (irDetectRight = 0) THEN ' Right detects
GOSUB Back_Up ' Back up & turn left <--- I REMOVED THIS
GOSUB Turn_Left
ELSE ' None detect
GOSUB Forward_Pulse ' Apply a forward pulse
ENDIF ' and check again
LOOP

'

[ Subroutines ]

Forward_Pulse: ' Send a single forward pulse.
PULSOUT 14,2125
PULSOUT 13,1625
PAUSE 20
RETURN
Turn_Left: ' Left turn, about 90-degrees.
FOR pulseCount = 0 TO 20
PULSOUT 13, 1625
PULSOUT 14, 1625
PAUSE 20
NEXT
RETURN
Turn_Right:
FOR pulseCount = 0 TO 20 ' Right turn, about 90-degrees.
PULSOUT 13, 2125
PULSOUT 14, 2125
PAUSE 20
NEXT
RETURN
Back_Up: ' Back up. <--- I REMOVED THIS
FOR pulseCount = 0 TO 40 <--- I REMOVED THIS
PULSOUT 13, 1625 <--- I REMOVED THIS
PULSOUT 14, 2125 <--- I REMOVED THIS
PAUSE 20 <--- I REMOVED THIS
NEXT <--- I REMOVED THIS
RETURN <--- I REMOVED THIS

Steph Lindsay · 2015-05-08 13:28

Hi again,

I tried your code using Freq1 at 38500 and it did work (I am not sure why!)

I tried your code, keeping 38500 as the Freq1 argument. The only thing I changed was the pin assignments to match the original circuit in Robotics with the Boe-Bot, since that is how I have my Boe-Bot built: IR LEDs on 8 and 2, IR receivers on 9 and 0, and servos on 13 and 12.

Everything worked as expected. So I'm not sure what the issue is? Here is my code:

 ' -----[ Title ]--------------------------------------------------------------
' Robotics with the Boe-Bot - RoamingWithIr.bs2
' Adapt RoamingWithWhiskers.bs2 for use with IR object detectors.
' {$STAMP BS2p} ' Stamp directive.
' {$PBASIC 2.5} ' PBASIC directive.

' -----[ Variables ]----------------------------------------------------------
irDetectLeft VAR Bit
irDetectRight VAR Bit
pulseCount VAR Byte

' -----[ Initialization ]-----------------------------------------------------
FREQOUT 4, 5000, 300 ' display start delay

' -----[ Main Routine ]-------------------------------------------------------
DO
  FREQOUT 8, 1, 38500 ' Store IR detection values in
  irDetectLeft = IN9 ' bit variables.
  FREQOUT 2, 1, 38500
  irDetectRight = IN0
  IF (irDetectLeft = 0) AND (irDetectRight = 0) THEN
    GOSUB Back_Up ' Both detect obstacle
    GOSUB Turn_Left ' Back up & U-turn (left twice)
    GOSUB Turn_Left
  ELSEIF (irDetectLeft = 0) THEN ' Left detects
    GOSUB Back_Up ' Back up & turn right
    GOSUB Turn_Right
  ELSEIF (irDetectRight = 0) THEN ' Right detects
    GOSUB Back_Up ' Back up & turn left
    GOSUB Turn_Left
  ELSE ' None detect
   GOSUB Forward_Pulse ' Apply a forward pulse
  ENDIF ' and check again
LOOP

' -----[ Subroutines ]--------------------------------------------------------
Forward_Pulse: ' Send a single forward pulse.
  PULSOUT 13,2125
  PULSOUT 12,1625
  PAUSE 20
  RETURN

Turn_Left: ' Left turn, about 90-degrees.
  FOR pulseCount = 0 TO 20
  PULSOUT 13, 1625
  PULSOUT 12, 1625
  PAUSE 20
  NEXT
  RETURN

Turn_Right:
  FOR pulseCount = 0 TO 20 ' Right turn, about 90-degrees.
  PULSOUT 13, 2125
  PULSOUT 12, 2125
  PAUSE 20
  NEXT
  RETURN

Back_Up: ' Back up.
  FOR pulseCount = 0 TO 40
  PULSOUT 13, 1625
  PULSOUT 12, 2125
  PAUSE 20
  NEXT
  RETURN

Genetix · 2015-05-08 22:08

Lifedrive,

Look at the order of your PULSOUT commands to the servos.
For Forward you have Pin 14 first but for all the other directions you have Pin 13 first.
If you put the Forward and Back_Up PULSOUTs with the same pin first then you would notice that you are sending the same values to each pin.
Swap the servo pulse values in Back_Up and then it will go in the same direction.

Notice that in Steph's program she always uses Pin 13 first.

Lifedrive · 2015-05-09 10:59

Hi Steph, Thanks, I tried the code that u gave and change the IR LEDs to 7 and 5, IR receivers on 6 and 4, and servos on 14 and 13 for my boe-bot built. The problem still there unless I removed the Back_Up subroutine then everything work as expected. Still try to figure out why that subroutine caused the boe-bot to stalled and beep when being triggered.

Hi Genetix, thanks for pointing that out to me. I had rearranged that 14 & 13 to the Pulsout, but it doesn't help with the problem.

Publison · 2015-05-09 11:25

Lifedrive wrote: »

Hi Steph, Thanks, I tried the code that u gave and change the IR LEDs to 7 and 5, IR receivers on 6 and 4, and servos on 14 and 13 for my boe-bot built. The problem still there unless I removed the Back_Up subroutine then everything work as expected. Still try to figure out why that subroutine caused the boe-bot to stalled and beep when being triggered.

Hi Genetix, thanks for pointing that out to me. I had rearranged that 14 & 13 to the Pulsout, but it doesn't help with the problem.

Do you have a piezo on Pin 9?

When you hear a beep, that usually means the board reset due to low battery voltage.

Try a fresh set of batteries and try it.

Lifedrive · 2015-05-10 19:02

Hi Steph, Genetix & Publison... Thanks for your great help. As Publison pointed to me about the battery issue, I went to nearby store and get myself a fresh pack of batteries. Everything work as expected. Meaning my so-called new batteries that still in the unopened package that I used is having low capacity.

Thanks everyone, problem solved . : )

erco · 2015-05-12 18:28

Hey Lifedrive: Welcome to the forums, glad to hear that you got your problem sorted out.

In a related story, just last Friday I submitted an article to SERVO magazine on (drumroll please)... SERVOS! Here is one poignant except:

Perhaps the most common "noob" problems discussed in Parallax's very helpful Robotics forum stem from weak alkaline batteries. Things appear to function properly until the servos move, drawing an amp or more, causing old batteries' voltage to drop and reset the microcontroller. New alkaline batteries almost always solve the problem. Oh, how people hate to admit that weak batteries were the only problem.

We've all been there, Pal. Now you're a real roboticist!

MarkCrCo · 2015-07-02 03:57

Rechargeable batteries work much better than standard alkaline batteries. Don't forget to adjust for the voltage differences. (4 X 1.5 Alkaline AA Batteries = 5 X 1.2 Rechargeable AA Batteries) If you really need constant power and your project is stationary a DC power supply is the way to go but don't reverse the leads or you fry your stamp ... The voice of experience.

Lifedrive · 2015-07-04 05:38

Thanks Erco & MarkCrCo for all the explanations. I was blinded by the "newly unopened battery" that I used. I had never thought this might lead to the robot behaving weird or not working. Yes, everyone should be aware that bad batteries will cause unexpected problem. To those who doesn't believe this, now is the time that they have to reconsider about this issue. For me I will execute anyone suggestion to solve my problem. That's the reason I post to ask for help.

Not to create a spam, just a thought of sharing some of my Boe-bot short videos/pics even though not that much, to those interested can see it at my Instagram account: @grafiks_

Again thanks to everyone for the help.

Need help on the old Boe-Bot IR Roaming Code

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