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Boe-Bot Troubles and Questions

Evan_PetersenEvan_Petersen Posts: 3
edited 2022-04-16 21:58 in BASIC Stamp

I currently have a project for my class that requires me to build the boe-bot, it has navigate through a course using a predetermined path. I insereted the exact code below which is straight out of the handbook (Chapter 4 EEPROM Navigation). When I try to run the code onto my bot it sends an error message stating that the constant exceeds 16 bits, while highlighting the 01234567 in the EEPROM data. Does anyone know how to fix this? Im using the BS2 model and version 2.5.

' Robotics with the Boe-Bot - EepromNavigation.bs2q
' Navigate using charachters stored in EEPROM.
' {$STAMP BS2}
' {$PBASIC 2.5}
' {$PORT COM3}

DEBUG "Program Running!"


pulseCount      VAR   Word
address         VAR   Byte
instruction     VAR   Byte


      Address: 0123456789
                       ||||||||||
DATA           "FLFFRBLBBQ"


FREQOUT 4, 2000, 3000


DO UNTIL (instruction = "Q")

  READ address, instruction
  address = address + 1

  SELECT instruction
    CASE "F": GOSUB Forward
    CASE "B": GOSUB Backward
    CASE "L": GOSUB Left_Turn
    CASE "R": GOSUB Right_Turn
  ENDSELECT

LOOP

END

Forward:
 FOR pulseCount = 1 TO 64
   PULSOUT 13, 850
   PULSOUT 12, 650
   PAUSE 20
 NEXT
 RETURN

Backward:
 FOR pulseCount = 1 TO 64
   PULSOUT 13, 650
   PULSOUT 12, 850
   PAUSE 20
 NEXT
 RETURN

Left_Turn:
 FOR pulseCount = 1 TO 24
   PULSOUT 13, 650
   PULSOUT 12, 650
   PAUSE 20
 NEXT
 RETURN

Right_Turn:
 FOR pulseCount = 1 TO 24
   PULSOUT 13, 850
   PULSOUT 12, 850
   PAUSE 20
 NEXT
 RETURN

Comments

  • GenetixGenetix Posts: 1,669

    Evan_Petersen,

    You code is Chapter 4, Activity #6 except for the comments.

    The line with Address and the Vertical Pipes (|) are comments so there should be an apostrophe (') in front of them, just like the first few lines of the program.

    Comments are ignored but since the apostrophes are missing, the editor thinks that it should be using that huge number so you get an error.

    You can copy and paste the programs from the PDF.
    https://www.parallax.com/package/robotics-with-the-boe-bot-kit-downloads/

  • Thank you very much, I had no clue there were pdf files for them.

  • Evan_PetersenEvan_Petersen Posts: 3
    edited 2022-04-16 21:57

    I have another problem if anyone could help...

    So I have finsihed the eeprom navigation code to the specifications needed for my maze (listed below). My next objective is to add the whiskers to it. When the whiskers make contact i want the bot to pause and then turn slowly the opposite way until the whisker istn making contact anymore. So in otherwords if the Right whisker is triggered then the right wheel will go forward and the left wheel will go backwards and the opposite if the left whisker is triggered. When no whiskers are triggered i want it to continue on with program ive created. Ive been trying to use the roaming with whiskers file but i cant figure out how to have it return to the eeprom code. Roaming with whiskers is also provided below under the maze code.

    ______MAZE CODE_______
    ' {$PORT COM3}
    ' {$PBASIC 2.5}
    ' Navigate using characters stored in EEPROM.
    ' {$STAMP BS2} ' Stamp directive.
    
    DEBUG "Program Running!"
    ' -----[ Variables ]----------------------------------------------------------
    pulseCount VAR Word ' Stores number of pulses.
    address VAR Byte ' Stores EEPROM address.
    instruction VAR Byte ' Stores EEPROM instruction.
    ' -----[ EEPROM Data ]--------------------------------------------------------
    ' Address: 0123456789 ' These two comm ented lines show
    '          |||||||||| ' EEPROM address of each datum.
    DATA      "FRGRJLDLKLPLUQ" ' Navigation instructions.
    ' -----[ Initialization ]-----------------------------------------------------
    
    ' -----[ Main Routine ]-------------------------------------------------------
    DO UNTIL (instruction = "Q")
     READ address, instruction ' Data at address in instruction.
     address = address + 1 ' Add 1 to address for next read.
     SELECT instruction ' Call a different subroutine
     CASE "F": GOSUB Forward ' for each possible character
     'CASE "B": GOSUB Backward ' that can be fetched from
     CASE "L": GOSUB Left_Turn ' EEPROM.
     CASE "R": GOSUB Right_Turn
     CASE "G": GOSUB Forwards
     CASE "J": GOSUB Forwardss
     CASE "D": GOSUB Forwardsss
     CASE "K": GOSUB Forwardssss
     CASE "P": GOSUB Forwardsssss
     CASE "U": GOSUB Forwardssssss
     ENDSELECT
    LOOP
    
    END ' Stop executing until reset.
    ' -----[ Subroutine - All Forwards ]-----------------------------------------------
    Forward: ' Forward subroutine.
     FOR pulseCount = 1 TO 270 ' Send 64 forward pulses.
     PULSOUT 13, 850 ' 1.7 ms pulse to left servo.
     PULSOUT 12, 680 ' 1.3 ms pulse to right servo.
     PAUSE 20 ' Pause for 20 ms.
     NEXT
     RETURN ' Return to Main Routine loop.
    
     Forwards: ' Forward subroutine.
     FOR pulseCount = 1 TO 130 ' Send 64 forward pulses.
     PULSOUT 13, 850 ' 1.7 ms pulse to left servo.
     PULSOUT 12, 680 ' 1.3 ms pulse to right servo.
     PAUSE 20 ' Pause for 20 ms.
     NEXT
     RETURN ' Return to Main Routine loop.
    
     Forwardss: ' Forward subroutine
     FOR pulseCount = 1 TO 258 ' Send 64 forward pulses.
     PULSOUT 13, 850 ' 1.7 ms pulse to left servo.
     PULSOUT 12, 680 ' 1.3 ms pulse to right servo.
     PAUSE 20 ' Pause for 20 ms.
     NEXT
     RETURN ' Return to Main Routine loop.
    
     Forwardsss: ' Forward subroutine.
     FOR pulseCount = 1 TO 103 ' Send 64 forward pulses.
     PULSOUT 13, 850 ' 1.7 ms pulse to left servo.
     PULSOUT 12, 680 ' 1.3 ms pulse to right servo.
     PAUSE 20 ' Pause for 20 ms.
     NEXT
     RETURN ' Return to Main Routine loop.
    
     Forwardssss: ' Forward subroutine.
     FOR pulseCount = 1 TO 390 ' Send 64 forward pulses.
     PULSOUT 13, 850 ' 1.7 ms pulse to left servo.
     PULSOUT 12, 680 ' 1.3 ms pulse to right servo.
     PAUSE 20 ' Pause for 20 ms.
     NEXT
     RETURN ' Return to Main Routine loop.
    
     Forwardsssss: ' Forward subroutine.
     FOR pulseCount = 1 TO 240 ' Send 64 forward pulses.
     PULSOUT 13, 850 ' 1.7 ms pulse to left servo.
     PULSOUT 12, 680 ' 1.3 ms pulse to right servo.
     PAUSE 20 ' Pause for 20 ms.
     NEXT
     RETURN ' Return to Main Routine loop.
    
     Forwardssssss: ' Forward subroutine.
     FOR pulseCount = 1 TO 384 ' Send 64 forward pulses.
     PULSOUT 13, 850 ' 1.7 ms pulse to left servo.
     PULSOUT 12, 680 ' 1.3 ms pulse to right servo.
     PAUSE 20 ' Pause for 20 ms.
     NEXT
     RETURN ' Return to Main Routine loop.
    
    ' -----[ Subroutine - Backward ]----------------------------------------------
    Backward: ' Backward subroutine.
     FOR pulseCount = 1 TO 64 ' Send 64 backward pulses.
     PULSOUT 13, 650 ' 1.3 ms pulse to left servo.
     PULSOUT 12, 850 ' 1.7 ms pulse to right servo.
     PAUSE 20 ' Pause for 20 ms.
     NEXT
     RETURN ' Return to Main Routine loop.
    ' -----[ Subroutine - Left_Turn ]---------------------------------------------
    Left_Turn: ' Left turn subroutine.
     FOR pulseCount = 1 TO 29 ' Send 24 left rotate pulses.
     PULSOUT 13, 650 ' 1.3 ms pulse to left servo.
     PULSOUT 12, 680 ' 1.3 ms pulse to right servo.
     PAUSE 20 ' Pause for 20 ms.
     NEXT
     RETURN ' Return to Main Routine loop.
    ' -----[ Subroutine – Right_Turn ]--------------------------------------------
    Right_Turn: ' right turn subroutine.
     FOR pulseCount = 1 TO 26 ' Send 24 right rotate pulses.
     PULSOUT 13, 850 ' 1.7 ms pulse to left servo.
     PULSOUT 12, 820 ' 1.7 ms pulse to right servo.
     PAUSE 20 ' Pause for 20 ms.
     NEXT
     RETURN ' Return to Main Routine section.
    
    
    
    
    
    
    _________Romaing With Whisker________________
    ' {$STAMP BS2}
    ' {$PBASIC 2.5}
    ' {$PORT COM3}
    
    DEBUG "Program Running!"
    
    pulseCount   VAR    Byte
    
    FREQOUT 4, 2000, 3000
    
    
    DO
     IF (IN5 = 0) AND (IN7 = 0) THEN
       GOSUB Back_UP
       GOSUB Turn_Left
       GOSUB Turn_Left
     ELSEIF (IN5 = 0) THEN
       GOSUB Back_Up
       GOSUB Turn_Right
     ELSEIF (IN7 = 0) THEN
       GOSUB Back_Up
       GOSUB Turn_Left
     ELSE
       GOSUB Forward_Pulse
     ENDIF
    LOOP
    
    
    Forward_Pulse:
      PULSOUT 13, 850
      PULSOUT 12, 650
      PAUSE 20
      RETURN
    
    
    Turn_Left:
     FOR pulseCount = 0 TO 20
      PULSOUT 13, 650
      PULSOUT 12, 650
      PAUSE 20
     NEXT
     RETURN
    
    
    Turn_Right:
     FOR pulseCount = 0 TO 20
      PULSOUT 13, 850
      PULSOUT 12, 850
    
      PAUSE 20
      NEXT
      RETURN
    
    
    Back_Up:
     FOR pulseCount = 0 TO 40
      PULSOUT 13, 650
      PULSOUT 12, 850
      PAUSE 20
     NEXT
     RETURN
    
  • ercoerco Posts: 20,134

    That's somewhat challenging with a BS2, which has neither hardware or software interrupts. Otherwise you would "simply" run your maze program until a whisker triggered an interrupt, when you would jump to the whiskers subroutine, which could return to your maze code when its done.

    One possible method is to send enough servo pulses to move an inch or so at a time, then check the whiskers and repeat. No need to stop really, the whisker check is likely so fast that you won't even see the bot slow down, it will coast for a fraction of a second during the check then keep going.

    One problem I foresee with your plan is that the whiskers subroutine will move your robot in random ways to get away from a wall, so when you return to your maze map you are likely headed in a different direction than before you hit the wall. After just one whisker trigger & routine, your robot is off course and it gets worse with each subsequent whisker trigger.

    Have you considered modifying your whiskers to let you follow a wall?

  • Peter167Peter167 Posts: 10
    edited 2022-04-16 20:14

    @erco said:
    That's somewhat challenging with a BS2, which has neither hardware or software interrupts...

    HI, this is the same person i just got locked out of my account and I took what you said I have changed the idea. Thank you very much for the advice!!

    I'm now working on a code that a professor has given me, using this code 5 IR sensors are used to detect the front, Front left and right, and sides left and right. I have the design down but I do have some questions on the code that my professor was unable to clear up with me. There are a few lines like this ( IF irDetectCenter = 0 THEN cent ) i get the that ir is detecting something causing a 0 but what on earth does cent mean? it says its not defined when i try to run the code but i dont know how to define it. Again, thank you for any help that you could provide:)

    irDetectLeft VAR Bit       'Variable for left
    irDetectCenter VAR Bit     'Variable for center
    irDetectRight VAR Bit      'Variable for right
    irDetectLSide VAR Bit      'Variable for left side
    irDetectRSide VAR Bit      'Variable for right side
    irDetectLSideFar VAR Bit   'Variable for left side low resistance
    irDetectRSideFar VAR Bit   'Variable for right side low resistance
    mLoop VAR Word
    Lmotor PIN 15    'The left motor is connected to pin 14, pulses go through here
    Rmotor PIN 14    'right = 15
        'speeds are -> 650-750-850
    LFast CON 850    'Conastant for left motor at full speed
    RFast CON 650    'Conastant for right motor at full speed
    LStop CON 750    'Conastant for left motor at full speed
    RStop CON 650    'Conastant for right motor at full speed
    LMid CON 830     'Conastant for left motor at medium speed
    RMid CON 700     'Conastant for right motor at medium speed
    LSlow CON 770    'Conastant for left motor at minimum speed
    RSlow CON 730    'Conastant for right motor at minimum speed
    LRev CON 650     'Conastant for left motor at full speed in reverse
    RRev CON 850     'Conastant for left motor at full speed in reverse
        FREQOUT 7, 1, 38500    'left side
        irDetectLeft = IN8
        FREQOUT 6, 1, 38500    'center
        irDetectCenter = IN5
        FREQOUT 3, 1, 38500    'right side
        irDetectRight = IN2
        FREQOUT 10, 1, 38500   'Left Close
        irDetectLSide = IN11
        FREQOUT 1, 1, 38500    'right Close
        irDetectRSide = IN0
        FREQOUT 9, 1, 38500     'left side far
        irDetectLSideFar = IN11
        FREQOUT 4, 1, 38500    'right side far
        irDetectRSideFar = IN0
       IF irDetectLSide = 0 AND irDetectRSide = 0 THEN main   'START COMMAND wave your hands past the two side detectors to start program
    Main:
    PAUSE 1000
    DO
        PULSOUT Lmotor, LFast 'left motor runs on full speed
        PULSOUT Rmotor, RFast 'Right motor runs on full speed
        FREQOUT 6, 1, 38500    'center
        irDetectCenter = IN5
        FREQOUT 10, 1, 38500   'Left Close
        irDetectLSide = IN11
        FREQOUT 1, 1, 38500    'right side
        irDetectRSide = IN0
        IF irDetectLSide = 0 AND irDetectRSide = 1 THEN
           DO
               PULSOUT Lmotor, LFast
               FREQOUT 6, 1, 38500    'center
               irDetectCenter = IN5
                   IF irDetectCenter = 0 THEN cent
               FREQOUT 10, 1, 38500   'Left Close
               irDetectLSide = IN11
               FREQOUT 3, 1, 38500    'right side
               irDetectRight = IN2
            LOOP UNTIL irDetectLSide = 1 OR irDetectRSide = 0
    
        ELSEIF irDetectLSide = 1 AND irDetectRSide = 0 THEN
            DO
               PULSOUT Rmotor, RFast
               FREQOUT 6, 1, 38500    'center
               irDetectCenter = IN5
                   IF irDetectCenter = 0 THEN cent
               FREQOUT 10, 1, 38500   'Left Close
               irDetectLSide = IN11
               FREQOUT 3, 1, 38500    'right side
               irDetectRight = IN2
            LOOP UNTIL irDetectLSide = 0 OR irDetectRSide = 1
      ' ENDIF
        IF irDetectCenter = 0 THEN                      'START
            FREQOUT 7, 1, 38500    'left side
            irDetectLeft = IN8
            FREQOUT 6, 1, 38500    'center
            irDetectCenter = IN5
            FREQOUT 3, 1, 38500
            irDetectRight = IN2
          PAUSE 1000 'pause to show signal detected
            IF (irDetectLeft = 1 AND irDetectRight = 0) THEN                      ' evaluate duration
              GOSUB turnLeft
            ELSEIF (irDetectLeft = 0 AND irDetectRight = 1) THEN
              GOSUB turnRight
            ELSEIF (irDetectLeft = 1 AND irDetectRight = 1) THEN
              GOSUB turnDecide
            ELSE
              GOSUB turnReverse
            ENDIF
            ENDIF
    
            LOOP
                                            'END
    
    END
    turnLeft:
        DO
            PULSOUT Lmotor, LRev
            FREQOUT 8, 1, 38500
            irDetectLeft = IN9
            FREQOUT 5, 1, 38500
            irDetectCenter = IN4
            FREQOUT 2, 1, 38500
            irDetectRight = IN0
        LOOP UNTIL IN0 = 1
    RETURN
    turnRight:
        DO
            PULSOUT Rmotor, RRev
            FREQOUT 8, 1, 38500
            irDetectLeft = IN9
            FREQOUT 5, 1, 38500
            irDetectCenter = IN4
            FREQOUT 2, 1, 38500
            irDetectRight = IN0
        LOOP UNTIL IN9 = 1
    RETURN
    turnReverse:
        FOR mLoop = 0 TO 50
            PULSOUT Rmotor, RRev
            PULSOUT Lmotor, LRev
            PAUSE 20
            PULSOUT Lmotor, LRev
            PAUSE 20
        NEXT
        DO
            PULSOUT Rmotor, RRev
            FREQOUT 8, 1, 38500
            irDetectLeft = IN9
            FREQOUT 5, 1, 38500
            irDetectCenter = IN4
            FREQOUT 2, 1, 38500
            irDetectRight = IN0
        LOOP UNTIL IN9 = 1
    RETURN
    turnDecide: 'uses lower resistance to see further
        FREQOUT 9, 1, 38500
        irDetectLSideFar = IN11
        FREQOUT 4, 1, 38500    'right side
        irDetectRSideFar = IN0
        IF (irDetectLSideFar = 1 AND irDetectRSideFar = 0) THEN                      ' evaluate duration
              GOSUB turnLeft
            ELSEIF (irDetectLSideFar = 0 AND irDetectRSideFar = 1) THEN
              GOSUB turnRight
            ELSEIF (irDetectLSideFar = 1 AND irDetectRSideFar = 1) THEN
              GOSUB turnLeft
            ELSE
              GOSUB turnReverse
        ENDIF
    RETURN
    

    ModEdit: code tags added

  • BTW what causes the cent to be a problem is when I take the apostrophe away from the endif statement in the middle of the Main code. As seen in the code above it has an apostrophe, i meant to take that out. This ENDIF statement is needed for the LOOP

  • PublisonPublison Posts: 12,315
    edited 2022-04-16 18:05

    If you can post yor complte code using the code tag...

    Three back ticks, (```)

    CR

    insert code

    CR
    Three back ticks,(```)
    CR

  • Here is my file on the basic stamp editor, im having problems copying the code with code tag.

  • PublisonPublison Posts: 12,315

    BS2 file even better.

  • GenetixGenetix Posts: 1,669
    edited 2022-04-17 02:12

    Peter167,

    These are useful references.
    https://www.parallax.com/go/PBASICHelp/Content/LanguageTopics/Reference/ElementsStyle.htm
    https://www.parallax.com/package/basic-stamp-manual/

    Your code is cluttered and hard to read.

    ' {$STAMP BS2}
    ' {$PBASIC 2.5}
    ' {$PORT COM3}
    
      irDetectLeft     VAR Bit   'Variable for left
      irDetectCenter   VAR Bit   'Variable for center
      irDetectRight    VAR Bit   'Variable for right
      irDetectLSide    VAR Bit   'Variable for left side
      irDetectRSide    VAR Bit   'Variable for right side
      irDetectLSideFar VAR Bit   'Variable for left side low resistance
      irDetectRSideFar VAR Bit   'Variable for right side low resistance
    
      mLoop VAR Word
    
      Lmotor PIN 15    'The left motor is connected to pin 14, pulses go through here
      Rmotor PIN 14    'right = 15
    
        'speeds are -> 650-750-850
      LFast CON 850    'Conastant for left motor at full speed
      RFast CON 650    'Conastant for right motor at full speed
      LStop CON 750    'Conastant for left motor at full speed
      RStop CON 650    'Conastant for right motor at full speed
      LMid  CON 830    'Conastant for left motor at medium speed
      RMid  CON 700    'Conastant for right motor at medium speed
      LSlow CON 770    'Conastant for left motor at minimum speed
      RSlow CON 730    'Conastant for right motor at minimum speed
      LRev  CON 650    'Conastant for left motor at full speed in reverse
      RRev  CON 850    'Conastant for left motor at full speed in reverse
    
    
      FREQOUT 7, 1, 38500    'left side
        irDetectLeft = IN8
      FREQOUT 6, 1, 38500    'center
        irDetectCenter = IN5
      FREQOUT 3, 1, 38500    'right side
        irDetectRight = IN2
      FREQOUT 10, 1, 38500   'Left Close
        irDetectLSide = IN11
      FREQOUT 1, 1, 38500    'right Close
        irDetectRSide = IN0
      FREQOUT 9, 1, 38500     'left side far
        irDetectLSideFar = IN11
      FREQOUT 4, 1, 38500    'right side far
        irDetectRSideFar = IN0
    
      IF (irDetectLSide = 0 AND irDetectRSide = 0) THEN main
        'START COMMAND wave your hands past the two side detectors to start program
    
    Main:
      PAUSE 1000
    
      DO
        PULSOUT Lmotor, LFast 'left motor runs on full speed
        PULSOUT Rmotor, RFast 'Right motor runs on full speed
    
        FREQOUT 6, 1, 38500    'center
          irDetectCenter = IN5
        FREQOUT 10, 1, 38500   'Left Close
          irDetectLSide = IN11
        FREQOUT 1, 1, 38500    'right side
          irDetectRSide = IN0
    
        IF (irDetectLSide = 0 AND irDetectRSide = 1) THEN
          DO
            PULSOUT Lmotor, LFast
    
            FREQOUT 6, 1, 38500    'center
              irDetectCenter = IN5
            IF (irDetectCenter = 0) THEN cent     ' <--- ???
    
            FREQOUT 10, 1, 38500   'Left Close
              irDetectLSide = IN11
            FREQOUT 3, 1, 38500    'right side
              irDetectRight = IN2
          LOOP UNTIL (irDetectLSide = 1 OR irDetectRSide = 0)
    
        ELSEIF (irDetectLSide = 1 AND irDetectRSide = 0) THEN
          DO
            PULSOUT Rmotor, RFast
    
            FREQOUT 6, 1, 38500    'center
              irDetectCenter = IN5
            IF (irDetectCenter = 0) THEN cent     ' <--- ???
    
            FREQOUT 10, 1, 38500   'Left Close
              irDetectLSide = IN11
            FREQOUT 3, 1, 38500    'right side
              irDetectRight = IN2
          LOOP UNTIL (irDetectLSide = 0 OR irDetectRSide = 1)
    
        ' ENDIF     ' <--- Why?
    
        IF irDetectCenter = 0 THEN                      'START
          FREQOUT 7, 1, 38500    'left side
            irDetectLeft = IN8
          FREQOUT 6, 1, 38500    'center
            irDetectCenter = IN5
          FREQOUT 3, 1, 38500
            irDetectRight = IN2
    
          PAUSE 1000 'pause to show signal detected
    
          IF (irDetectLeft = 1 AND irDetectRight = 0) THEN                      ' evaluate duration
            GOSUB turnLeft
          ELSEIF (irDetectLeft = 0 AND irDetectRight = 1) THEN
            GOSUB turnRight
          ELSEIF (irDetectLeft = 1 AND irDetectRight = 1) THEN
            GOSUB turnDecide
          ELSE
            GOSUB turnReverse
          ENDIF
    
        ENDIF
    
      LOOP
                                            'END
      END
    
    
    turnLeft:
      DO
        PULSOUT Lmotor, LRev
    
        FREQOUT 8, 1, 38500
          irDetectLeft = IN9
        FREQOUT 5, 1, 38500
          irDetectCenter = IN4
        FREQOUT 2, 1, 38500
          irDetectRight = IN0
      LOOP UNTIL IN0 = 1
    
      RETURN
    
    
    turnRight:
      DO
        PULSOUT Rmotor, RRev
        FREQOUT 8, 1, 38500
          irDetectLeft = IN9
        FREQOUT 5, 1, 38500
          irDetectCenter = IN4
        FREQOUT 2, 1, 38500
          irDetectRight = IN0
      LOOP UNTIL IN9 = 1
    
      RETURN
    
    
    turnReverse:
      FOR mLoop = 0 TO 50
        PULSOUT Rmotor, RRev
        PULSOUT Lmotor, LRev
        PAUSE 20
    
        PULSOUT Lmotor, LRev
        PAUSE 20
      NEXT
    
      DO
        PULSOUT Rmotor, RRev
    
        FREQOUT 8, 1, 38500
          irDetectLeft = IN9
        FREQOUT 5, 1, 38500
          irDetectCenter = IN4
        FREQOUT 2, 1, 38500
          irDetectRight = IN0
      LOOP UNTIL IN9 = 1
    
      RETURN
    
    
    turnDecide: 'uses lower resistance to see further
      FREQOUT 9, 1, 38500
        irDetectLSideFar = IN11
      FREQOUT 4, 1, 38500    'right side
        irDetectRSideFar = IN0
    
      IF (irDetectLSideFar = 1 AND irDetectRSideFar = 0) THEN                      ' evaluate duration
        GOSUB turnLeft
      ELSEIF (irDetectLSideFar = 0 AND irDetectRSideFar = 1) THEN
        GOSUB turnRight
      ELSEIF (irDetectLSideFar = 1 AND irDetectRSideFar = 1) THEN
        GOSUB turnLeft
      ELSE
        GOSUB turnReverse
      ENDIF
    
      RETURN
    

    Chapter 7 of Robotics with the BOE-Bot is on Infrared Object Detection.
    A LOW or 0 means that an object IS detected, and a HIGH or 1 means that NO object was detected.

    Your mystery line means that when the Center IR detector sees something it should... we don't know.
    Is this all you were given?

  • @Genetix

    Yes, this was all that I was given to me. Im trying to get it so it can guide its way through a maze using the infrared detectors for a little show for incoming students.

  • for reference here is the circuit design,

  • GenetixGenetix Posts: 1,669

    Peter167,

    The program and the diagram have some differences.
    The diagram has P4 as the Front Right transmitter, and P2 as the Far Right Side transmitter.

    Front Right should be P4 and P3, but the program uses P3 and P2.
    Far Right side uses P2 but is P4 in the program.

    The 1st IF...THEN...ELSEIF looks for irDetectRSide, but uses the Front Right for detection.

    Which IR directions are TurnLeft, TurnRight, and TurnReverse supposed to use?

  • I once again have changed to project a bit to combine some of an old code that I had using specific distances with the addition of using two IR sensors on the left and right side to slow down the wheels when it comes to close to a wall to keep it from running into any sidewalls. I'm currently just trying to figure out how I can have the frequency scanning while the Boebot is traveling on its specific. As shown in the BS2 file I'm trying to make X = 1 to that it can run while looping so when X = 1 the frequency sweep is active so it would be running the entire time, although I'm trying this currently it's not working how I want it to.

  • I Think I figured out my previous problem but i am now stuck with it saying that my Data occupies the same location as my program..... any help here?

  • does this basically mean that I have too much for it to hold? I can try to shorten/combine some of the subroutines if so.

  • I guess I could buy the bs2p microcontroller but I want to ask if I'm correct before I spend $200 on it for next-day shipping

  • GenetixGenetix Posts: 1,669

    Peter167,

    The BS2 has only 2K of EEPROM and you repeat the same code segments over and over again.
    https://www.parallax.com/package/basic-stamp-manual/
    Notice how the wheel pulse rates are treated as variables in the IR roaming programs starting on page 250 of Robotics with the BOE-Bot.
    In AvoidTableEdge on page 245, the number of servo pulses is also a variable.
    Look at the code segment at the bottom of page 133 to see as a perfect example.

    The more often that you can use the same segment of code and the same variables, the more compact your program will be.

    I see that you are using some of the code from Chapter 8, Activity 1 but your starting frequency values don't match.

    What's a Microcontroller is a good reference for basic BS2 programming.
    https://www.parallax.com/package/whats-a-microcontroller-and-linked-downloads/

    StampWorks deals with more advanced BS2 programming.
    https://www.parallax.com/package/stampworks-experiment-kit-manual-and-code/

  • Very helpful, thank you!

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