> Tim, thanks for the reference;
>
> Homefly has neat stuff....how prompt is their delivery, especially for the
> airplane items?
>
> Regards,
> Ray McArthur
>
>
Original Message
> From: Tim Goldstein <timg@k...>
> To: <basicstamps@egroups.com>
> Sent: Saturday, December 02, 2000 1:45 PM
> Subject: RE: [noparse][[/noparse]basicstamps] Miniature gears
>
> > Try http://www.idnet.de/homepage/scholl/Englisch/light_ng.htm for the
> > smallest and lightest servos available. They do not use a geartrain like
> > most, but a single spur and pinion gear driving a screw and provide a
> linear
> > not rotary output. They are available in the USA from
> > http://www.homefly.com/
> << snip >>
1. Re: Programming
From: Bruce Bates <bvbates@u...>
2. Re: Programming
From: "john & lisa" <johnlisa@c...>
3. Re: Programming
From: Bruce Bates <bvbates@u...>
4. Need help with IRPD
From: tjwalton@u...
5. RE: NMEA commands?
From: "Babu, Nagi -*Contractor" <nags@c...>
6. Re: Need help with IRPD
From: "Dan Gustafson" <dankgus@e...>
7. Re: Need help with IRPD
From: Bruce Bates <bvbates@u...>
8. Re: NMEA commands?
From: "dakota" <rfriedrich@i...>
9. Re: NMEA commands?
From: "Michael Hendricks" <mjh80@b...>
10. Re: BS2p
From: Tracy Allen <tracy@e...>
11. Unsuscribe
From: "fernando hood" <hoodey@h...>
12. Model Trains
From: Newzed@a...
13. Re: BS2p
From: jonwms@a...
14. Re: Programming
From: "Kevin Johnson" <kevrjohn@h...>
15. Re: Programming
From: "Kevin Johnson" <kevrjohn@h...>
16. Re: Need help with IRPD
From: tjwalton@u...
17. Re: Re: Need help with IRPD!!!
From: "Alex Burke" <ajb_robotics@h...>
18. Re: Re: Need help with IRPD
From: "Dan Gustafson" <dankgus@e...>
19. unsubscribe
From: David or Laura Armistead <djarmis@p...>
20. Re: Re: Need help with IRPD
From: Bruce Bates <bvbates@u...>
21. Re: Re: Need help with IRPD!!!
From: Bruce Bates <bvbates@u...>
Message: 1
Date: Mon, 04 Dec 2000 05:38:05 -0500
From: Bruce Bates <bvbates@u...>
Subject: Re: Programming
At 09:13 AM Monday 12/4/2000 +0000, you wrote:
John -
>Can anyone help me, I'm getting real desperate now.
I'm not sure : (
>You see its all to do with programming.
I'm NOT SURE that is true ! I suspect it has MORE to do with the
capabilities (or lack thereof) of the Polaroid 6500 board !
> I have a BSII connected to a Polariod 6500 module and a PAK VIII which
> is connected to the Stamp and two servo's. Now I have programmes for
> running each piece of kit individually, but I have no idea how to get
> them to work together, I've tried reading through the Basic Stamp manual,
> and from them I can pretty much work out how each programme works, but I
> can't figure out how they work together.
IF they work properly apart, that SHOULD be all that you need. It ALMOST
sounds as though there is a problem passing data internal to the program.
E.g. You are "reading" binary, and presuming it is ASCII, or something of
that nature.
>Here's what I'm trying to do :-
>Switch on Robot
>Robot uses Polariod Sensor to detected objects
>If objects are close by it sends a command to the PAK VIII to change
direction
>it keeps doing this until there are no objects in its path.
This MAY BE never, if the objects in question are too close OR too far away.
There are TWO opportunities for NO ECHO within the time frame. One occurs
when the echo is TOO LATE, and the other occurs when the echo is TOO EARLY.
The 6500 Board documentation says " Accurate Sonar Ranging from 6" to 35 FT
". Add to that what you will find below regarding ringing time, and this
may not be as accurate a method as you may suspect. There is also a
question as to how you are using the board - it has more than one mode of
operation.
>When path is clear of any close object (i.e any objects within 30cm) it
>takes another reading from the sensor to judge how much the path is clear.
>Lets say the distance is 100cm then the BSII sends instructions to the PAK
>VIII to move the robot forward 90 cm or until the sensor detects an object
>10cm in front of it.
>It then repeats the programme.
IMHO, that would take accuracy and repeatability greater then the Polaroid
6500 board has, when you consider delays in the software - which we
presently DON'T SEE. Just by way of reference, the ARobot documentation on
the Arrick Robot web site
[noparse]/noparse][url=http://www.robotics.com/arobot]http://www.robotics.com/arobot[/url shows a 9 second ringing period which must
be considered on that platform (excerpted from the ARobot Sonar
Documentation):
QUOTE
sonar:
high init ' hit transducer.
pause 1 ' pause for ringing.
high binh ' raise inhibit.
rctime echo,0,dist ' wait for echo.
dist=dist/73+9 ' dist has number of inches.
' offset for ringing is 9 inches.
' sound travels 1 inch in 73us.
' rctime increments 2us.
pause 40 ' give it a rest.
low init ' reset sonar pins.
low binh
return ' done.
END QUOTE
>
>I know this requires a lot of programming, as I say I can control each
>circuit individually, I just can't seem to tie them together. I'm pretty
>sure someone out there has a similar set-up, if so please help, I've spent
>a lot of time and money for something that whizzes around making clicking
>noises and well just bangs into things.
A copy of your present program would SURELY help.
>Many, many thanks in advance to all that can help
>John
Thanks Bruce for your reply, I've glanced over it very quickly as I've just
come of nightshift, and will look over it properly once I've had a good
sleep. As for sending you the programmes I have, well there are two of them
and they are quite long, I don't mind spending time typing them in, if you
don't mind downloading seriously long emails.
Thanks again for your help and time
John
Original Message
From: Bruce Bates <bvbates@u...>
To: <basicstamps@egroups.com>
Sent: Monday, December 04, 2000 10:38 AM
Subject: Re: [noparse][[/noparse]basicstamps] Programming
> At 09:13 AM Monday 12/4/2000 +0000, you wrote:
> John -
>
> >Can anyone help me, I'm getting real desperate now.
>
> I'm not sure : (
>
> >You see its all to do with programming.
>
> I'm NOT SURE that is true ! I suspect it has MORE to do with the
> capabilities (or lack thereof) of the Polaroid 6500 board !
>
> > I have a BSII connected to a Polariod 6500 module and a PAK VIII which
> > is connected to the Stamp and two servo's. Now I have programmes for
> > running each piece of kit individually, but I have no idea how to get
> > them to work together, I've tried reading through the Basic Stamp
manual,
> > and from them I can pretty much work out how each programme works, but I
> > can't figure out how they work together.
>
> IF they work properly apart, that SHOULD be all that you need. It ALMOST
> sounds as though there is a problem passing data internal to the program.
> E.g. You are "reading" binary, and presuming it is ASCII, or something of
> that nature.
>
> >Here's what I'm trying to do :-
>
> >Switch on Robot
> >Robot uses Polariod Sensor to detected objects
> >If objects are close by it sends a command to the PAK VIII to change
direction
> >it keeps doing this until there are no objects in its path.
>
> This MAY BE never, if the objects in question are too close OR too far
away.
> There are TWO opportunities for NO ECHO within the time frame. One occurs
> when the echo is TOO LATE, and the other occurs when the echo is TOO
EARLY.
> The 6500 Board documentation says " Accurate Sonar Ranging from 6" to 35
FT
> ". Add to that what you will find below regarding ringing time, and this
> may not be as accurate a method as you may suspect. There is also a
> question as to how you are using the board - it has more than one mode of
> operation.
>
> >When path is clear of any close object (i.e any objects within 30cm) it
> >takes another reading from the sensor to judge how much the path is
clear.
> >Lets say the distance is 100cm then the BSII sends instructions to the
PAK
> >VIII to move the robot forward 90 cm or until the sensor detects an
object
> >10cm in front of it.
> >It then repeats the programme.
>
> IMHO, that would take accuracy and repeatability greater then the Polaroid
> 6500 board has, when you consider delays in the software - which we
> presently DON'T SEE. Just by way of reference, the ARobot documentation on
> the Arrick Robot web site
> [noparse]/noparse][url=http://www.robotics.com/arobot]http://www.robotics.com/arobot[/url shows a 9 second ringing period which
must
> be considered on that platform (excerpted from the ARobot Sonar
Documentation):
>
> QUOTE
> sonar:
> high init ' hit transducer.
> pause 1 ' pause for ringing.
> high binh ' raise inhibit.
> rctime echo,0,dist ' wait for echo.
> dist=dist/73+9 ' dist has number of inches.
> ' offset for ringing is 9
inches.
> ' sound travels 1 inch in 73us.
> ' rctime increments 2us.
> pause 40 ' give it a rest.
> low init ' reset sonar pins.
> low binh
> return ' done.
> END QUOTE
> >
> >I know this requires a lot of programming, as I say I can control each
> >circuit individually, I just can't seem to tie them together. I'm pretty
> >sure someone out there has a similar set-up, if so please help, I've
spent
> >a lot of time and money for something that whizzes around making clicking
> >noises and well just bangs into things.
>
> A copy of your present program would SURELY help.
>
> >Many, many thanks in advance to all that can help
> >John
>
> We keep trying : )
>
> Regards,
>
> Bruce Bates
>
>
>
>
>
Message: 3
Date: Mon, 04 Dec 2000 06:14:14 -0500
From: Bruce Bates <bvbates@u...>
Subject: Re: Programming
At 01:03 PM Monday 12/4/2000 +0000, you wrote:
>Thanks Bruce for your reply, I've glanced over it very quickly as I've just
>come of nightshift, and will look over it properly once I've had a good
>sleep. As for sending you the programmes I have, well there are two of them
>and they are quite long, I don't mind spending time typing them in, if you
>don't mind downloading seriously long emails.
Long emails are NO problem, but why type them ? Use cut-and-paste into an
email, or zip the programs and send them as an attachment. FAR F A
R easier then typing them !
Message: 4
Date: Mon, 04 Dec 2000 14:39:10 -0000
From: tjwalton@u...
Subject: Need help with IRPD
I have an IRPD hooked up to a basic stamp and it is acting very odd.
it regularly sees things that are not there, and doesn't see some
things that are. i have tried everything i can think of from
pointing it straight up to moving the leds. i have even put
electrical tape over the receiver and it still thinks it is
receiving. i have turned the sensitivity down as low as it goes, but
it is still erratic. any ideas?
I was doing some readup in the past about GPS and interfacing one with a MC.
I also wanted to build some interface to my computer in my car. That's when
I bumped into this one site. It is elaborate - but, of course does not cover
everything. I'm sure there will be other links. http://www.dip.ee.uct.ac.za/~ahenric/oncorhtm.html
Also, try searching using Google search engine. You'll be surprised how many
there are out there about this subject.
www.google.com
yes, the link is www.auav.net. He has spent a couple
years developing the system and is wanting to sell it
rather then share it. I don't dislike him for that by
any means. I would much rather learn some of this on
my own. I am a student in industrial technology and
this is the perfect project for a group I am in.
Thanks again
Matthew Klarich
__________________________________________________
Do You Yahoo!?
Yahoo! Shopping - Thousands of Stores. Millions of Products. http://shopping.yahoo.com/
Message: 6
Date: Mon, 4 Dec 2000 06:58:49 -0800
From: "Dan Gustafson" <dankgus@e...>
Subject: Re: Need help with IRPD
Have you tried a pull up or a pull down resistor on the basic stamp lead?
--Dan
Original Message
From: <tjwalton@u...>
To: <basicstamps@egroups.com>
Sent: Monday, December 04, 2000 6:39 AM
Subject: [noparse][[/noparse]basicstamps] Need help with IRPD
> I have an IRPD hooked up to a basic stamp and it is acting very odd.
> it regularly sees things that are not there, and doesn't see some
> things that are. i have tried everything i can think of from
> pointing it straight up to moving the leds. i have even put
> electrical tape over the receiver and it still thinks it is
> receiving. i have turned the sensitivity down as low as it goes, but
> it is still erratic. any ideas?
>
> thanks!! tom
>
>
>
>
>
Message: 7
Date: Mon, 04 Dec 2000 10:10:44 -0500
From: Bruce Bates <bvbates@u...>
Subject: Re: Need help with IRPD
At 02:39 PM Monday 12/4/2000 +0000, you wrote:
>I have an IRPD hooked up to a basic stamp and it is acting very odd.
>it regularly sees things that are not there, and doesn't see some
>things that are. i have tried everything i can think of from
>pointing it straight up to moving the leds. i have even put
>electrical tape over the receiver and it still thinks it is
>receiving. i have turned the sensitivity down as low as it goes, but
>it is still erratic. any ideas?
>
>thanks!! tom
Hi Tom -
Let's start with which IRPD unit you are using. Then, perhaps, we can go on
from there ?
I did it by looking at the manuals for the gps card
getting the data into the stamp wasnt difficult but it was in string format.
I spent a fair amount of time parsing out the data and then converting it
into numeric format. If you want to control a vehicle then I am sure you
want a number for a location rather that a string representation for a
location. There was a guy that posted his codee for the string conversion
about a year ago - you might want to check the archives - his code on the
format conversion was a little more cleaner and compact than mine.
I wanted to get the data in binary format but was too lazy to do that (all I
really wanted was to ask the gps its last known position - and then receive
an answer)
richard
Original Message
From: "Matthew K" <m_klarich@y...>
To: <basicstamps@egroups.com>
Sent: Monday, December 04, 2000 12:00 AM
Subject: [noparse][[/noparse]basicstamps] NMEA commands?
> I am looking to use a 12 channel GPS receiver to fly
> my R/C airplane around. I have found someone who
> created one of these but he used a much faster chip
> then the stamp 2. I want to get the basics down first
> and in order to do that I need to decipher the NMEA
> data that the GPS receiver is emitting. Does anyone
> have that data so I do not have to spend hours walking
> around and seeing the differences in the code?
>
> Thanks much,
>
> Matt Klarich
>
> __________________________________________________
> Do You Yahoo!?
> Yahoo! Shopping - Thousands of Stores. Millions of Products.
> http://shopping.yahoo.com/
>
>
>
This reads the important data from RMC, GGA, and GSA strings... it converts
the data on the fly and can read fastenough to read all the data for each
sample that is sent each second. Hope this saves you time/space.
serin GPSRX, GPSBaud, GPSTimeout, ReadGpsNoData, [noparse][[/noparse]wait("RMC,"), Wait(","),
SampleStatus, skip(1), dec5 Lat, skip(1), dec1 LatDec1, dec1 LatDec2, dec1
LatDec3, Dec1 LatDec4, skip(1), LatRef, skip(1), dec5 Lon, skip(1), dec1
LonDec1, dec1 LonDec2, dec1 LonDec3, Dec1 LonDec4, skip(1), Ref, skip(1),dec
speed, wait(","), dec heading, wait(","), dec1 DateD1, dec1 DateD2, dec1
DateM1, dec1 DateM2, dec1 DateY1, dec1 DateY2, wait("GGA,"), dec1 TimeH1,
dec1 TimeH2, dec1 TimeM1, dec1 TimeM2, dec1 TimeS1, dec1 TimeS2, Wait(","),
skip(1), wait(","), wait(","),wait(","),wait(","), wait(","), dec NumSats,
wait(","),wait(","), dec alt, wait("GSA,"), wait(","), x]
Original Message
From: "dakota" <rfriedrich@i...>
To: <basicstamps@egroups.com>
Sent: Monday, December 04, 2000 10:42 AM
Subject: Re: [noparse][[/noparse]basicstamps] NMEA commands?
> you might want to look at my site
> http://www.inetport.com/~davisele/fc.html
>
> I did it by looking at the manuals for the gps card
> getting the data into the stamp wasnt difficult but it was in string
format.
> I spent a fair amount of time parsing out the data and then converting it
> into numeric format. If you want to control a vehicle then I am sure you
> want a number for a location rather that a string representation for a
> location. There was a guy that posted his codee for the string conversion
> about a year ago - you might want to check the archives - his code on the
> format conversion was a little more cleaner and compact than mine.
>
> I wanted to get the data in binary format but was too lazy to do that (all
I
> really wanted was to ask the gps its last known position - and then
receive
> an answer)
>
> richard
>
>
>
>
>
Original Message
> From: "Matthew K" <m_klarich@y...>
> To: <basicstamps@egroups.com>
> Sent: Monday, December 04, 2000 12:00 AM
> Subject: [noparse][[/noparse]basicstamps] NMEA commands?
>
>
> > I am looking to use a 12 channel GPS receiver to fly
> > my R/C airplane around. I have found someone who
> > created one of these but he used a much faster chip
> > then the stamp 2. I want to get the basics down first
> > and in order to do that I need to decipher the NMEA
> > data that the GPS receiver is emitting. Does anyone
> > have that data so I do not have to spend hours walking
> > around and seeing the differences in the code?
> >
> > Thanks much,
> >
> > Matt Klarich
> >
> > __________________________________________________
> > Do You Yahoo!?
> > Yahoo! Shopping - Thousands of Stores. Millions of Products.
> > http://shopping.yahoo.com/
> >
> >
> >
>
>
>
>
>
Message: 10
Date: Mon, 04 Dec 2000 09:28:58 -0800
From: Tracy Allen <tracy@e...>
Subject: Re: BS2p
>It will definitely work in your INEX board (that's where mine lives)
Hi Jon,
I wonder which pin-out of the BS2p you will describe for your
upcoming N&V article? At the embedded systems conference, Chuck was
showing off both a 40 pin carrier with all 32 i/o's brought out to
pins, and another in the standard 24 pin carrier with 16 i/o's. (on
yellow circuit boards!) And there was yet another prototype on a 24
pin carrier that brought the extra 16 i/o's to a special fine-pitch
header on the end of the board. I just wonder how it will come out?
Having the extra 16 i/o's is sure an attractive possibility, but so
is compatibility with existing sockets.
> there is a new command that allows you to used EE in another program
> bank as storage and retrieval without actually having to switch
> programs. This will be great for datalogging apps
Or to store configuration data for a project in one bank, but access
it directly with reads and writes from any other bank. I can take
some credit for lobbying hard for that one!
____________________________________________________________________________
_________
Get more from the Web. FREE MSN Explorer download : http://explorer.msn.com
Message: 12
Date: Mon, 4 Dec 2000 16:22:25 EST
From: Newzed@a...
Subject: Model Trains
This post is for the 21 model train aficionados who asked for copies of my
model train schematic and codes.
I got tired of the jerky starts and stops using the pulsout command, so I
installed a Parallax servo on the shaft of the train power supply speed
control. After a few trial and error servo codes it works beautifully. The
start and stops are very smooth and very realistic. I used a gimbaled shaft
coupler I found in my junk box which gve my quite a bit of leeway in
installed the servo. Build a bracket for it out of 1/16 aluminum one inch
wide to hold it in position. If you can't find a gimbaled shaft coupler and
have to use a rigid one, you will have to be pretty precise in your
mounting.
I used 1300 for the CW rotation, which gives me about 65 to 70 percent of
full speed, with a pause of 200. This gives a good smooth acceleration and
a
realistic full speed. For navigating the turnouts I used a CW rotation of
850 with a pause of 200 which gave me a smooth slow speed for passing
through
the switches. CCW rotation in all cases was 300. If you decide to go this
route I suggest you put a "servo reset" routine at the beginning of your
program to make sure the servo always starts from full CCW.
If your program requires that one train stop while the other is running, you
will, of course have to use a pulsout command for that instance. I'm
thinking of another power supply and another servo so I can control each
track individually.
Message: 13
Date: Mon, 4 Dec 2000 16:30:59 EST
From: jonwms@a...
Subject: Re: BS2p
In a message dated 12/4/00 11:38:04 AM Central Standard Time, tracy@e... writes:
> Hi Jon,
> I wonder which pin-out of the BS2p you will describe for your
> upcoming N&V article? At the embedded systems conference, Chuck was
> showing off both a 40 pin carrier with all 32 i/o's brought out to
> pins, and another in the standard 24 pin carrier with 16 i/o's. (on
> yellow circuit boards!) And there was yet another prototype on a 24
> pin carrier that brought the extra 16 i/o's to a special fine-pitch
> header on the end of the board. I just wonder how it will come out?
> Having the extra 16 i/o's is sure an attractive possibility, but so
> is compatibility with existing sockets.
My focus has been on the BS2p-24 (the auxiliary header on the BS2p-24 has
gone away in production) for the compatibility reasons you suggested. I
have
a 40-pinner and use it from time-to-time. The real exciting stuff is the
LCD, One-Wire and I2C stuff in both -- I love it.
The BS2p is known around Parallax halls as "the golden Stamp" because of its
unique color. Ken Gracey tells me that the BS2p will ship mid-to-late
January. It really is the best new Stamp in a very long time.
I am having a similar problem. I am designing a robot that appears to
move within its program ok, but it won't access the navigation routines.
The robot uses standard DC motors attatched to a home-made motor controll
circuit. Would some kind person please take a look and tell me what is
wrong. The program is designed to take user input and let the pilot steer
untill the robot hits something then the robot executes an evasion routine
except when the "special modes" are active. Heres the program.
DIRS = %0000000000001111
front_left_whisker var in4
front_right_whisker var in5
rear_left_whisker var in6
rear_right_whisker var in7
forward_march var in8
march_left var in9
march_right var in10
backward_march var in11
manual_only var in12
auto_only var in13
' forward_march var in8
' march_left var in9
' march_right var in10
' backward_march var in11
' manual_only var in12 This overides the whiskers
' auto_only var in13 This ovverides the pilot to
let the robot wander forward
' these variables all are attatched to normally closed buttons and are
activated when
' they = 0
' all the whisker variables when their switches close = 1
main:
debug "main",cr
if manual_only=0 then manual_control
if auto_only=0 then auto_forward
goto scan
'---- the evade functions are named for where the object is relative to the
robot --
scan:
debug "scan",cr
if front_left_whisker=1 & front_right_whisker=1 then u_turn
if rear_left_whisker=1 & rear_right_whisker=1 then forward
if front_left_whisker=1 then evade_forward_left
if front_right_whisker=1 then evade_forward_right
if rear_left_whisker=1 then evade_reverse_left
if rear_right_whisker=1 then evade_reverse_right
if auto_only=0 then auto_forward
goto manual_control
auto_forward:
debug "auto forward",cr
gosub forward
if auto_only=0 then scan
goto main
'---- this detects the pilots
orders
manual_control:
debug "manual control",cr
if forward_march=0 then manual_forward
if march_right=0 then manual_turn_right
if march_left=0 then manual_turn_left
if backward_march=0 then manual_backward
goto main
'---- navigation functions and
subroutines
evade_forward_left:
'---- these are the evasion
subroutines
'---- the bits go as
follows
'---- forward left motor, forward right motor, reverse left motor, reverse
right motor-
forward:
outs = %1100
pause 2500
outs = %0000
return
backward:
outs = %0011
pause 5000
outs = %0000
return
turn_right:
outs = %1001
pause 2500
outs = %0000
return
turn_left:
outs = %0110
pause 2500
outs = %0000
return
manual_forward:
outs = %1100
pause 1000
outs = %0000
return
manual_backward:
outs = %0011
pause 1000
outs = %0000
return
manual_turn_right:
outs = %1001
pause 1000
outs = %0000
return
manual_turn_left:
outs = %0110
pause 1000
outs = %0000
return
'---- the
end
Original Message
From: "Bruce Bates" <bvbates@u...>
To: <basicstamps@egroups.com>
Sent: Monday, December 04, 2000 4:38 AM
Subject: Re: [noparse][[/noparse]basicstamps] Programming
> At 09:13 AM Monday 12/4/2000 +0000, you wrote:
> John -
>
> >Can anyone help me, I'm getting real desperate now.
>
> I'm not sure : (
>
> >You see its all to do with programming.
>
> I'm NOT SURE that is true ! I suspect it has MORE to do with the
> capabilities (or lack thereof) of the Polaroid 6500 board !
>
> > I have a BSII connected to a Polariod 6500 module and a PAK VIII which
> > is connected to the Stamp and two servo's. Now I have programmes for
> > running each piece of kit individually, but I have no idea how to get
> > them to work together, I've tried reading through the Basic Stamp
manual,
> > and from them I can pretty much work out how each programme works, but I
> > can't figure out how they work together.
>
> IF they work properly apart, that SHOULD be all that you need. It ALMOST
> sounds as though there is a problem passing data internal to the program.
> E.g. You are "reading" binary, and presuming it is ASCII, or something of
> that nature.
>
> >Here's what I'm trying to do :-
>
> >Switch on Robot
> >Robot uses Polariod Sensor to detected objects
> >If objects are close by it sends a command to the PAK VIII to change
direction
> >it keeps doing this until there are no objects in its path.
>
> This MAY BE never, if the objects in question are too close OR too far
away.
> There are TWO opportunities for NO ECHO within the time frame. One occurs
> when the echo is TOO LATE, and the other occurs when the echo is TOO
EARLY.
> The 6500 Board documentation says " Accurate Sonar Ranging from 6" to 35
FT
> ". Add to that what you will find below regarding ringing time, and this
> may not be as accurate a method as you may suspect. There is also a
> question as to how you are using the board - it has more than one mode of
> operation.
>
> >When path is clear of any close object (i.e any objects within 30cm) it
> >takes another reading from the sensor to judge how much the path is
clear.
> >Lets say the distance is 100cm then the BSII sends instructions to the
PAK
> >VIII to move the robot forward 90 cm or until the sensor detects an
object
> >10cm in front of it.
> >It then repeats the programme.
>
> IMHO, that would take accuracy and repeatability greater then the Polaroid
> 6500 board has, when you consider delays in the software - which we
> presently DON'T SEE. Just by way of reference, the ARobot documentation on
> the Arrick Robot web site
> [noparse]/noparse][url=http://www.robotics.com/arobot]http://www.robotics.com/arobot[/url shows a 9 second ringing period which
must
> be considered on that platform (excerpted from the ARobot Sonar
Documentation):
>
> QUOTE
> sonar:
> high init ' hit transducer.
> pause 1 ' pause for ringing.
> high binh ' raise inhibit.
> rctime echo,0,dist ' wait for echo.
> dist=dist/73+9 ' dist has number of inches.
> ' offset for ringing is 9
inches.
> ' sound travels 1 inch in 73us.
> ' rctime increments 2us.
> pause 40 ' give it a rest.
> low init ' reset sonar pins.
> low binh
> return ' done.
> END QUOTE
> >
> >I know this requires a lot of programming, as I say I can control each
> >circuit individually, I just can't seem to tie them together. I'm pretty
> >sure someone out there has a similar set-up, if so please help, I've
spent
> >a lot of time and money for something that whizzes around making clicking
> >noises and well just bangs into things.
>
> A copy of your present program would SURELY help.
>
> >Many, many thanks in advance to all that can help
> >John
>
> We keep trying : )
>
> Regards,
>
> Bruce Bates
>
>
>
>
>
Sorry forgot to say I have a BS2 board of education.
Original Message
From: "Kevin Johnson" <kevrjohn@h...>
To: <basicstamps@egroups.com>
Sent: Monday, December 04, 2000 4:48 PM
Subject: Re: [noparse][[/noparse]basicstamps] Programming
> Hi Everyone,
>
> I am having a similar problem. I am designing a robot that appears to
> move within its program ok, but it won't access the navigation routines.
> The robot uses standard DC motors attatched to a home-made motor controll
> circuit. Would some kind person please take a look and tell me what is
> wrong. The program is designed to take user input and let the pilot steer
> untill the robot hits something then the robot executes an evasion routine
> except when the "special modes" are active. Heres the program.
>
> DIRS = %0000000000001111
>
> front_left_whisker var in4
> front_right_whisker var in5
> rear_left_whisker var in6
> rear_right_whisker var in7
> forward_march var in8
> march_left var in9
> march_right var in10
> backward_march var in11
> manual_only var in12
> auto_only var in13
>
> ' forward_march var in8
> ' march_left var in9
> ' march_right var in10
> ' backward_march var in11
> ' manual_only var in12 This overides the whiskers
> ' auto_only var in13 This ovverides the pilot to
> let the robot wander forward
> ' these variables all are attatched to normally closed buttons and are
> activated when
> ' they = 0
> ' all the whisker variables when their switches close = 1
>
>
> main:
>
> debug "main",cr
> if manual_only=0 then manual_control
> if auto_only=0 then auto_forward
> goto scan
>
> '---- the evade functions are named for where the object is relative to
the
> robot --
>
> scan:
>
> debug "scan",cr
> if front_left_whisker=1 & front_right_whisker=1 then u_turn
> if rear_left_whisker=1 & rear_right_whisker=1 then forward
> if front_left_whisker=1 then evade_forward_left
> if front_right_whisker=1 then evade_forward_right
> if rear_left_whisker=1 then evade_reverse_left
> if rear_right_whisker=1 then evade_reverse_right
> if auto_only=0 then auto_forward
> goto manual_control
>
>
> auto_forward:
>
> debug "auto forward",cr
> gosub forward
> if auto_only=0 then scan
> goto main
>
>
> '---- this detects the pilots
> orders
>
>
> manual_control:
>
> debug "manual control",cr
> if forward_march=0 then manual_forward
> if march_right=0 then manual_turn_right
> if march_left=0 then manual_turn_left
> if backward_march=0 then manual_backward
> goto main
>
>
> '---- navigation functions and
> subroutines
>
> evade_forward_left:
>
> debug "EFL",cr
> gosub backward
> gosub turn_right
> goto scan
>
> evade_forward_right:
>
> debug "EFR",cr
> gosub backward
> gosub turn_left
> goto scan
>
> evade_reverse_left:
>
> debug "ERL" ,cr
> gosub forward
> gosub turn_left
> goto scan
>
> evade_reverse_right:
>
> debug "ERR",cr
> gosub forward
> gosub turn_right
> goto scan
>
> u_turn:
>
> debug "u-turn",cr
> gosub backward
> gosub turn_right
> goto scan
>
> '---- these are the evasion
> subroutines
> '---- the bits go as
> follows
> '---- forward left motor, forward right motor, reverse left motor, reverse
> right motor-
> forward:
>
> outs = %1100
> pause 2500
> outs = %0000
> return
>
> backward:
>
> outs = %0011
> pause 5000
> outs = %0000
> return
>
> turn_right:
>
> outs = %1001
> pause 2500
> outs = %0000
> return
>
> turn_left:
>
> outs = %0110
> pause 2500
> outs = %0000
> return
>
> manual_forward:
>
> outs = %1100
> pause 1000
> outs = %0000
> return
>
> manual_backward:
>
> outs = %0011
> pause 1000
> outs = %0000
> return
>
> manual_turn_right:
>
> outs = %1001
> pause 1000
> outs = %0000
> return
>
> manual_turn_left:
>
> outs = %0110
> pause 1000
> outs = %0000
> return
>
> '---- the
>
end
>
>
>
>
Original Message
> From: "Bruce Bates" <bvbates@u...>
> To: <basicstamps@egroups.com>
> Sent: Monday, December 04, 2000 4:38 AM
> Subject: Re: [noparse][[/noparse]basicstamps] Programming
>
>
> > At 09:13 AM Monday 12/4/2000 +0000, you wrote:
> > John -
> >
> > >Can anyone help me, I'm getting real desperate now.
> >
> > I'm not sure : (
> >
> > >You see its all to do with programming.
> >
> > I'm NOT SURE that is true ! I suspect it has MORE to do with the
> > capabilities (or lack thereof) of the Polaroid 6500 board !
> >
> > > I have a BSII connected to a Polariod 6500 module and a PAK VIII
which
> > > is connected to the Stamp and two servo's. Now I have programmes for
> > > running each piece of kit individually, but I have no idea how to get
> > > them to work together, I've tried reading through the Basic Stamp
> manual,
> > > and from them I can pretty much work out how each programme works, but
I
> > > can't figure out how they work together.
> >
> > IF they work properly apart, that SHOULD be all that you need. It ALMOST
> > sounds as though there is a problem passing data internal to the
program.
> > E.g. You are "reading" binary, and presuming it is ASCII, or something
of
> > that nature.
> >
> > >Here's what I'm trying to do :-
> >
> > >Switch on Robot
> > >Robot uses Polariod Sensor to detected objects
> > >If objects are close by it sends a command to the PAK VIII to change
> direction
> > >it keeps doing this until there are no objects in its path.
> >
> > This MAY BE never, if the objects in question are too close OR too far
> away.
> > There are TWO opportunities for NO ECHO within the time frame. One
occurs
> > when the echo is TOO LATE, and the other occurs when the echo is TOO
> EARLY.
> > The 6500 Board documentation says " Accurate Sonar Ranging from 6" to 35
> FT
> > ". Add to that what you will find below regarding ringing time, and this
> > may not be as accurate a method as you may suspect. There is also a
> > question as to how you are using the board - it has more than one mode
of
> > operation.
> >
> > >When path is clear of any close object (i.e any objects within 30cm) it
> > >takes another reading from the sensor to judge how much the path is
> clear.
> > >Lets say the distance is 100cm then the BSII sends instructions to the
> PAK
> > >VIII to move the robot forward 90 cm or until the sensor detects an
> object
> > >10cm in front of it.
> > >It then repeats the programme.
> >
> > IMHO, that would take accuracy and repeatability greater then the
Polaroid
> > 6500 board has, when you consider delays in the software - which we
> > presently DON'T SEE. Just by way of reference, the ARobot documentation
on
> > the Arrick Robot web site
> > [noparse]/noparse][url=http://www.robotics.com/arobot]http://www.robotics.com/arobot[/url shows a 9 second ringing period which
> must
> > be considered on that platform (excerpted from the ARobot Sonar
> Documentation):
> >
> > QUOTE
> > sonar:
> > high init ' hit transducer.
> > pause 1 ' pause for ringing.
> > high binh ' raise inhibit.
> > rctime echo,0,dist ' wait for echo.
> > dist=dist/73+9 ' dist has number of inches.
> > ' offset for ringing is 9
> inches.
> > ' sound travels 1 inch in
73us.
> > ' rctime increments 2us.
> > pause 40 ' give it a rest.
> > low init ' reset sonar pins.
> > low binh
> > return ' done.
> > END QUOTE
> > >
> > >I know this requires a lot of programming, as I say I can control each
> > >circuit individually, I just can't seem to tie them together. I'm
pretty
> > >sure someone out there has a similar set-up, if so please help, I've
> spent
> > >a lot of time and money for something that whizzes around making
clicking
> > >noises and well just bangs into things.
> >
> > A copy of your present program would SURELY help.
> >
> > >Many, many thanks in advance to all that can help
> > >John
> >
> > We keep trying : )
> >
> > Regards,
> >
> > Bruce Bates
> >
> >
> >
> >
> >
>
Message: 16
Date: Mon, 04 Dec 2000 23:27:36 -0000
From: tjwalton@u...
Subject: Re: Need help with IRPD
i have not tried a pull up resistor(i don't know which or where,
though there is a place for an optional one right by the receiver on
the board. it is supposed to work with the Basic Stamp, there was
code, but no reference to actually using the resistor).
it is a Lynxmotion IRPD, purchased from MondoTronics.
--- In basicstamps@egroups.com, tjwalton@u... wrote:
> I have an IRPD hooked up to a basic stamp and it is acting very
odd.
> it regularly sees things that are not there, and doesn't see some
> things that are. i have tried everything i can think of from
> pointing it straight up to moving the leds. i have even put
> electrical tape over the receiver and it still thinks it is
> receiving. i have turned the sensitivity down as low as it goes,
but
> it is still erratic. any ideas?
>
> thanks!! tom
Message: 17
Date: Mon, 04 Dec 2000 20:21:13 -0600
From: "Alex Burke" <ajb_robotics@h...>
Subject: Re: Re: Need help with IRPD!!!
Tom,
Don't feel bad... the same thing keeps happening to me to! Although, I
did build my IRPD using a schematic I had... but none the less you are
right, it tells me that it keeps finding things when nothing is there, and
doesn't pick up half of the stuff that I put in front of it!!!!
About 2 months ago, I finally gave up on it. I decided it was some thing
that wrong with my board (even though I had tried making it several
different ways, and rebuilt it more than half a dozen times). I went and
bought the sharp GPDO2's (these are tiny IR's with small ranging
capability) All I had to do was plug it directly to my stamp, and to power
(+ or- a resistor here and there) Then it should have worked but IT DID THE
EXACT SAME THING!!!!! I do not know what to do any more, and I am about to
give up on it... I know that it is not the code because I used the one that
they used (the companies) I know that it is not the IR's either because all
4 that I have do the exact same thing!!!
Sorry that I am not any help to you Tom, but I figured that I would let you
know that you are not alone! AND IF there is any body out there that knows
what the hek we are doing wrong please let us know!!! Thanks in advance for
any one who can help. -Alex Burke
>From: tjwalton@u...
>Reply-To: basicstamps@egroups.com
>To: basicstamps@egroups.com
>Subject: [noparse][[/noparse]basicstamps] Re: Need help with IRPD
>Date: Mon, 04 Dec 2000 23:27:36 -0000
>
>i have not tried a pull up resistor(i don't know which or where,
>though there is a place for an optional one right by the receiver on
>the board. it is supposed to work with the Basic Stamp, there was
>code, but no reference to actually using the resistor).
>
>it is a Lynxmotion IRPD, purchased from MondoTronics.
>
>
>
>--- In basicstamps@egroups.com, tjwalton@u... wrote:
> > I have an IRPD hooked up to a basic stamp and it is acting very
>odd.
> > it regularly sees things that are not there, and doesn't see some
> > things that are. i have tried everything i can think of from
> > pointing it straight up to moving the leds. i have even put
> > electrical tape over the receiver and it still thinks it is
> > receiving. i have turned the sensitivity down as low as it goes,
>but
> > it is still erratic. any ideas?
> >
> > thanks!! tom
>
>
>
>
____________________________________________________________________________
_________
Get more from the Web. FREE MSN Explorer download : http://explorer.msn.com
Message: 18
Date: Mon, 4 Dec 2000 19:04:25 -0800
From: "Dan Gustafson" <dankgus@e...>
Subject: Re: Re: Need help with IRPD
I have used detectors of different types, and in several instances, one of
the detectors states (active or not active, I don't remember, but it doesnt
matter) the detector output was just left floating. The stamp had trouble
reading the state of the pin, so I had to use a pullup resistor to keep the
pin high while the pin would normally be floating.
--Dan
Original Message
From: <tjwalton@u...>
To: <basicstamps@egroups.com>
Sent: Monday, December 04, 2000 3:27 PM
Subject: [noparse][[/noparse]basicstamps] Re: Need help with IRPD
> i have not tried a pull up resistor(i don't know which or where,
> though there is a place for an optional one right by the receiver on
> the board. it is supposed to work with the Basic Stamp, there was
> code, but no reference to actually using the resistor).
>
> it is a Lynxmotion IRPD, purchased from MondoTronics.
>
>
>
> --- In basicstamps@egroups.com, tjwalton@u... wrote:
> > I have an IRPD hooked up to a basic stamp and it is acting very
> odd.
> > it regularly sees things that are not there, and doesn't see some
> > things that are. i have tried everything i can think of from
> > pointing it straight up to moving the leds. i have even put
> > electrical tape over the receiver and it still thinks it is
> > receiving. i have turned the sensitivity down as low as it goes,
> but
> > it is still erratic. any ideas?
> >
> > thanks!! tom
>
>
>
>
>
Message: 19
Date: Mon, 04 Dec 2000 20:50:02 -0700
From: David or Laura Armistead <djarmis@p...>
Subject: unsubscribe
Ray McArthur wrote:
> Tim, thanks for the reference;
>
> Homefly has neat stuff....how prompt is their delivery, especially for the
> airplane items?
>
> Regards,
> Ray McArthur
>
>
Original Message
> From: Tim Goldstein <timg@k...>
> To: <basicstamps@egroups.com>
> Sent: Saturday, December 02, 2000 1:45 PM
> Subject: RE: [noparse][[/noparse]basicstamps] Miniature gears
>
> > Try http://www.idnet.de/homepage/scholl/Englisch/light_ng.htm for the
> > smallest and lightest servos available. They do not use a geartrain like
> > most, but a single spur and pinion gear driving a screw and provide a
> linear
> > not rotary output. They are available in the USA from
> > http://www.homefly.com/
> << snip >>
Message: 20
Date: Mon, 04 Dec 2000 23:40:37 -0500
From: Bruce Bates <bvbates@u...>
Subject: Re: Re: Need help with IRPD
At 11:27 PM Monday 12/4/2000 +0000, you wrote:
>i have not tried a pull up resistor(i don't know which or where,
>though there is a place for an optional one right by the receiver on
>the board. it is supposed to work with the Basic Stamp, there was
>code, but no reference to actually using the resistor).
>
>it is a Lynxmotion IRPD, purchased from MondoTronics.
>
>Hi again Tom et al -
After visiting the Lynxmotion web site, I found some interesting information
!
There are "Tech Tips" on the Home page of the Lynxmotion web site
[noparse][[/noparse] http://www.lynxmotion.com/index.htm ] which indicate various
troubleshooting steps for IRPD sensors. My suggestion would be to perform
those steps, as indicated, and if they fail to bring any problem resolution
then contact the Lynxmotion tech support folks at : " tech@L... "
.
At the end of that section there are also some comments about REPLACEMENT
PARTS that MAY be needed. Thus, there MAY BE problem INHERENT in the
circuitry itself, and NO AMOUNT of STAMP troubleshooting will provide an
appropriate answer.
If that all fails, please advise, and we can continue with the problem
determination here, but let's have Lynxmotion do their share firat, as any
vendor is usually willing to do.
Hope this starts you back to a successful path.
Regards,
Bruce Bates
>--- In basicstamps@egroups.com, tjwalton@u... wrote:
> > I have an IRPD hooked up to a basic stamp and it is acting very
>odd.
> > it regularly sees things that are not there, and doesn't see some
> > things that are. i have tried everything i can think of from
> > pointing it straight up to moving the leds. i have even put
> > electrical tape over the receiver and it still thinks it is
> > receiving. i have turned the sensitivity down as low as it goes,
>but
> > it is still erratic. any ideas?
> >
> > thanks!! tom
Message: 21
Date: Tue, 05 Dec 2000 00:20:40 -0500
From: Bruce Bates <bvbates@u...>
Subject: Re: Re: Need help with IRPD!!!
At 08:21 PM Monday 12/4/2000 -0600, you wrote:
>Tom,
>
> Don't feel bad... the same thing keeps happening to me to! Although,
I
>did build my IRPD using a schematic I had... but none the less you are
>right, it tells me that it keeps finding things when nothing is there, and
>doesn't pick up half of the stuff that I put in front of it!!!!
>
>About 2 months ago, I finally gave up on it. I decided it was some thing
>that wrong with my board (even though I had tried making it several
>different ways, and rebuilt it more than half a dozen times). I went and
>bought the sharp GPDO2's (these are tiny IR's with small ranging
>capability)
<snipped>
>Sorry that I am not any help to you Tom, but I figured that I would let you
>know that you are not alone! AND IF there is any body out there that knows
>what the hek we are doing wrong please let us know!!! Thanks in advance for
>any one who can help. -Alex Burke
Hi Alex et al -
As much as I'm hesitant to say this, there may be a lesson learned here. If
one purchase parts on their own, as opposed to purchasing them from a
distributor, or other vendor, one then is responsible for ones own
troubleshooting. If one is prepared to do that - fine ! Many folks here
have the proper equipment to do so, and even lend their expertise towards
assisting others.
Personally, on my own platform, I wouldn't begin to troubleshoot this
particular problem without an oscilloscope, a light meter, Kodak 90% White
paper (photographic paper), a DVM or decent meter, a suitable metric ruler,
an IR light detector, and a suitable source of back lighting to test for
ambient light problems. Without that, I'd be spinning my wheels, as many
folks here often seem to be doing with light oriented hardware
troubleshooting difficulties. Simply put - rarely are they Stamp problems
per se, although as many have pointed out, this forum is a wealth of
information, and some of us are crazy enough to respond to all sorts of
troubleshooting messages : )
My sole point here is - if you need support, particularly hardware support,
the better route is often to align yourself and your purchases with one or
more vendors who offer support, and there are plenty of them on this list.
If you have the equipment mentioned above, I'd be happy to compose and
transmit a list of troubleshooting steps. I will await your response, or
that of others with similar position indicating device problems. These are
generally separate from more generalized IRPD problems, and specifically
unique with the Sharp GPD2D02 sensors.
--- techno masai <plunkettm@e...> wrote:
> Evening all:
>
> I have one of those MSI piezo sensors
> (p/n#0-1002794-1 at digikey) I put it
> on my o-scope and tapped it, it briefly outputs 40+
> volts output/5mS or so.
>
> I want to read this piezo ouput with the BS2, I've
> rigged up a 5.1 v zener
> diode with a 220 ohm resistor to so it doesn't go
> past 5 volts and mess up
> my LTC1298 ADC.
>
> This doesn't work.
>
> I want to read this piezo output with my BS2 with
> the LTC1298 ADC.
>
> Anyone got any ideas?
>
> Thanks,
>
> Mark
>
>
>
>
> .
> one got any ideas?
>
> Thanks,
>
> Mark
>
>
>
>
> .
>
__________________________________________________
Do You Yahoo!?
Yahoo! Photos - Share your holiday photos online! http://photos.yahoo.com/
Comments
> Tim, thanks for the reference;
>
> Homefly has neat stuff....how prompt is their delivery, especially for the
> airplane items?
>
> Regards,
> Ray McArthur
>
>
Original Message
> From: Tim Goldstein <timg@k...>
> To: <basicstamps@egroups.com>
> Sent: Saturday, December 02, 2000 1:45 PM
> Subject: RE: [noparse][[/noparse]basicstamps] Miniature gears
>
> > Try http://www.idnet.de/homepage/scholl/Englisch/light_ng.htm for the
> > smallest and lightest servos available. They do not use a geartrain like
> > most, but a single spur and pinion gear driving a screw and provide a
> linear
> > not rotary output. They are available in the USA from
> > http://www.homefly.com/
> << snip >>
Original Message
From: basicstamps@egroups.com [noparse]/noparse]mailto:[url=http://forums.parallaxinc.com/group/basicstamps/post?postID=qAAA5EjolVgLTFKLLnbOn-iCFJYdJsbGwobFY3R41_oZjjsrHvJsa9EEZjNAqeG_cTq4txVkLry965eWIebT]basicstamps@egroups.com[/url
Sent: December 5, 2000 3:52 AM
To: basicstamps@egroups.com
Subject: [noparse][[/noparse]basicstamps] Digest Number 367
There are 21 messages in this issue.
Topics in this digest:
1. Re: Programming
From: Bruce Bates <bvbates@u...>
2. Re: Programming
From: "john & lisa" <johnlisa@c...>
3. Re: Programming
From: Bruce Bates <bvbates@u...>
4. Need help with IRPD
From: tjwalton@u...
5. RE: NMEA commands?
From: "Babu, Nagi -*Contractor" <nags@c...>
6. Re: Need help with IRPD
From: "Dan Gustafson" <dankgus@e...>
7. Re: Need help with IRPD
From: Bruce Bates <bvbates@u...>
8. Re: NMEA commands?
From: "dakota" <rfriedrich@i...>
9. Re: NMEA commands?
From: "Michael Hendricks" <mjh80@b...>
10. Re: BS2p
From: Tracy Allen <tracy@e...>
11. Unsuscribe
From: "fernando hood" <hoodey@h...>
12. Model Trains
From: Newzed@a...
13. Re: BS2p
From: jonwms@a...
14. Re: Programming
From: "Kevin Johnson" <kevrjohn@h...>
15. Re: Programming
From: "Kevin Johnson" <kevrjohn@h...>
16. Re: Need help with IRPD
From: tjwalton@u...
17. Re: Re: Need help with IRPD!!!
From: "Alex Burke" <ajb_robotics@h...>
18. Re: Re: Need help with IRPD
From: "Dan Gustafson" <dankgus@e...>
19. unsubscribe
From: David or Laura Armistead <djarmis@p...>
20. Re: Re: Need help with IRPD
From: Bruce Bates <bvbates@u...>
21. Re: Re: Need help with IRPD!!!
From: Bruce Bates <bvbates@u...>
________________________________________________________________________
________________________________________________________________________
Message: 1
Date: Mon, 04 Dec 2000 05:38:05 -0500
From: Bruce Bates <bvbates@u...>
Subject: Re: Programming
At 09:13 AM Monday 12/4/2000 +0000, you wrote:
John -
>Can anyone help me, I'm getting real desperate now.
I'm not sure : (
>You see its all to do with programming.
I'm NOT SURE that is true ! I suspect it has MORE to do with the
capabilities (or lack thereof) of the Polaroid 6500 board !
> I have a BSII connected to a Polariod 6500 module and a PAK VIII which
> is connected to the Stamp and two servo's. Now I have programmes for
> running each piece of kit individually, but I have no idea how to get
> them to work together, I've tried reading through the Basic Stamp manual,
> and from them I can pretty much work out how each programme works, but I
> can't figure out how they work together.
IF they work properly apart, that SHOULD be all that you need. It ALMOST
sounds as though there is a problem passing data internal to the program.
E.g. You are "reading" binary, and presuming it is ASCII, or something of
that nature.
>Here's what I'm trying to do :-
>Switch on Robot
>Robot uses Polariod Sensor to detected objects
>If objects are close by it sends a command to the PAK VIII to change
direction
>it keeps doing this until there are no objects in its path.
This MAY BE never, if the objects in question are too close OR too far away.
There are TWO opportunities for NO ECHO within the time frame. One occurs
when the echo is TOO LATE, and the other occurs when the echo is TOO EARLY.
The 6500 Board documentation says " Accurate Sonar Ranging from 6" to 35 FT
". Add to that what you will find below regarding ringing time, and this
may not be as accurate a method as you may suspect. There is also a
question as to how you are using the board - it has more than one mode of
operation.
>When path is clear of any close object (i.e any objects within 30cm) it
>takes another reading from the sensor to judge how much the path is clear.
>Lets say the distance is 100cm then the BSII sends instructions to the PAK
>VIII to move the robot forward 90 cm or until the sensor detects an object
>10cm in front of it.
>It then repeats the programme.
IMHO, that would take accuracy and repeatability greater then the Polaroid
6500 board has, when you consider delays in the software - which we
presently DON'T SEE. Just by way of reference, the ARobot documentation on
the Arrick Robot web site
[noparse]/noparse][url=http://www.robotics.com/arobot]http://www.robotics.com/arobot[/url shows a 9 second ringing period which must
be considered on that platform (excerpted from the ARobot Sonar
Documentation):
QUOTE
sonar:
high init ' hit transducer.
pause 1 ' pause for ringing.
high binh ' raise inhibit.
rctime echo,0,dist ' wait for echo.
dist=dist/73+9 ' dist has number of inches.
' offset for ringing is 9 inches.
' sound travels 1 inch in 73us.
' rctime increments 2us.
pause 40 ' give it a rest.
low init ' reset sonar pins.
low binh
return ' done.
END QUOTE
>
>I know this requires a lot of programming, as I say I can control each
>circuit individually, I just can't seem to tie them together. I'm pretty
>sure someone out there has a similar set-up, if so please help, I've spent
>a lot of time and money for something that whizzes around making clicking
>noises and well just bangs into things.
A copy of your present program would SURELY help.
>Many, many thanks in advance to all that can help
>John
We keep trying : )
Regards,
Bruce Bates
________________________________________________________________________
________________________________________________________________________
Message: 2
Date: Mon, 4 Dec 2000 13:03:15 -0000
From: "john & lisa" <johnlisa@c...>
Subject: Re: Programming
Thanks Bruce for your reply, I've glanced over it very quickly as I've just
come of nightshift, and will look over it properly once I've had a good
sleep. As for sending you the programmes I have, well there are two of them
and they are quite long, I don't mind spending time typing them in, if you
don't mind downloading seriously long emails.
Thanks again for your help and time
John
Original Message
From: Bruce Bates <bvbates@u...>
To: <basicstamps@egroups.com>
Sent: Monday, December 04, 2000 10:38 AM
Subject: Re: [noparse][[/noparse]basicstamps] Programming
> At 09:13 AM Monday 12/4/2000 +0000, you wrote:
> John -
>
> >Can anyone help me, I'm getting real desperate now.
>
> I'm not sure : (
>
> >You see its all to do with programming.
>
> I'm NOT SURE that is true ! I suspect it has MORE to do with the
> capabilities (or lack thereof) of the Polaroid 6500 board !
>
> > I have a BSII connected to a Polariod 6500 module and a PAK VIII which
> > is connected to the Stamp and two servo's. Now I have programmes for
> > running each piece of kit individually, but I have no idea how to get
> > them to work together, I've tried reading through the Basic Stamp
manual,
> > and from them I can pretty much work out how each programme works, but I
> > can't figure out how they work together.
>
> IF they work properly apart, that SHOULD be all that you need. It ALMOST
> sounds as though there is a problem passing data internal to the program.
> E.g. You are "reading" binary, and presuming it is ASCII, or something of
> that nature.
>
> >Here's what I'm trying to do :-
>
> >Switch on Robot
> >Robot uses Polariod Sensor to detected objects
> >If objects are close by it sends a command to the PAK VIII to change
direction
> >it keeps doing this until there are no objects in its path.
>
> This MAY BE never, if the objects in question are too close OR too far
away.
> There are TWO opportunities for NO ECHO within the time frame. One occurs
> when the echo is TOO LATE, and the other occurs when the echo is TOO
EARLY.
> The 6500 Board documentation says " Accurate Sonar Ranging from 6" to 35
FT
> ". Add to that what you will find below regarding ringing time, and this
> may not be as accurate a method as you may suspect. There is also a
> question as to how you are using the board - it has more than one mode of
> operation.
>
> >When path is clear of any close object (i.e any objects within 30cm) it
> >takes another reading from the sensor to judge how much the path is
clear.
> >Lets say the distance is 100cm then the BSII sends instructions to the
PAK
> >VIII to move the robot forward 90 cm or until the sensor detects an
object
> >10cm in front of it.
> >It then repeats the programme.
>
> IMHO, that would take accuracy and repeatability greater then the Polaroid
> 6500 board has, when you consider delays in the software - which we
> presently DON'T SEE. Just by way of reference, the ARobot documentation on
> the Arrick Robot web site
> [noparse]/noparse][url=http://www.robotics.com/arobot]http://www.robotics.com/arobot[/url shows a 9 second ringing period which
must
> be considered on that platform (excerpted from the ARobot Sonar
Documentation):
>
> QUOTE
> sonar:
> high init ' hit transducer.
> pause 1 ' pause for ringing.
> high binh ' raise inhibit.
> rctime echo,0,dist ' wait for echo.
> dist=dist/73+9 ' dist has number of inches.
> ' offset for ringing is 9
inches.
> ' sound travels 1 inch in 73us.
> ' rctime increments 2us.
> pause 40 ' give it a rest.
> low init ' reset sonar pins.
> low binh
> return ' done.
> END QUOTE
> >
> >I know this requires a lot of programming, as I say I can control each
> >circuit individually, I just can't seem to tie them together. I'm pretty
> >sure someone out there has a similar set-up, if so please help, I've
spent
> >a lot of time and money for something that whizzes around making clicking
> >noises and well just bangs into things.
>
> A copy of your present program would SURELY help.
>
> >Many, many thanks in advance to all that can help
> >John
>
> We keep trying : )
>
> Regards,
>
> Bruce Bates
>
>
>
>
>
________________________________________________________________________
________________________________________________________________________
Message: 3
Date: Mon, 04 Dec 2000 06:14:14 -0500
From: Bruce Bates <bvbates@u...>
Subject: Re: Programming
At 01:03 PM Monday 12/4/2000 +0000, you wrote:
>Thanks Bruce for your reply, I've glanced over it very quickly as I've just
>come of nightshift, and will look over it properly once I've had a good
>sleep. As for sending you the programmes I have, well there are two of them
>and they are quite long, I don't mind spending time typing them in, if you
>don't mind downloading seriously long emails.
Long emails are NO problem, but why type them ? Use cut-and-paste into an
email, or zip the programs and send them as an attachment. FAR F A
R easier then typing them !
>Thanks again for your help and time Sure !
>John
________________________________________________________________________
________________________________________________________________________
Message: 4
Date: Mon, 04 Dec 2000 14:39:10 -0000
From: tjwalton@u...
Subject: Need help with IRPD
I have an IRPD hooked up to a basic stamp and it is acting very odd.
it regularly sees things that are not there, and doesn't see some
things that are. i have tried everything i can think of from
pointing it straight up to moving the leds. i have even put
electrical tape over the receiver and it still thinks it is
receiving. i have turned the sensitivity down as low as it goes, but
it is still erratic. any ideas?
thanks!! tom
________________________________________________________________________
________________________________________________________________________
Message: 5
Date: Mon, 4 Dec 2000 08:46:09 -0600
From: "Babu, Nagi -*Contractor" <nags@c...>
Subject: RE: NMEA commands?
Hi Matthew,
I was doing some readup in the past about GPS and interfacing one with a MC.
I also wanted to build some interface to my computer in my car. That's when
I bumped into this one site. It is elaborate - but, of course does not cover
everything. I'm sure there will be other links.
http://www.dip.ee.uct.ac.za/~ahenric/oncorhtm.html
Also, try searching using Google search engine. You'll be surprised how many
there are out there about this subject.
www.google.com
thanks
nagi
Original Message
From: Matthew K [noparse]/noparse]mailto:[url=http://forums.parallaxinc.com/group/basicstamps/post?postID=3BFqpDS_69WYxMeA-Ls2KPIUOTe2tVs1GaKfuiJEnrihjwoyM447XCur8PimTeaTe_1H7zH3C1qWdQ]m_klarich@y...[/url
Sent: Sunday, December 03, 2000 11:30 PM
To: basicstamps@egroups.com
Subject: RE: [noparse][[/noparse]basicstamps] NMEA commands?
yes, the link is www.auav.net. He has spent a couple
years developing the system and is wanting to sell it
rather then share it. I don't dislike him for that by
any means. I would much rather learn some of this on
my own. I am a student in industrial technology and
this is the perfect project for a group I am in.
Thanks again
Matthew Klarich
__________________________________________________
Do You Yahoo!?
Yahoo! Shopping - Thousands of Stores. Millions of Products.
http://shopping.yahoo.com/
[noparse][[/noparse]This message contained attachments]
________________________________________________________________________
________________________________________________________________________
Message: 6
Date: Mon, 4 Dec 2000 06:58:49 -0800
From: "Dan Gustafson" <dankgus@e...>
Subject: Re: Need help with IRPD
Have you tried a pull up or a pull down resistor on the basic stamp lead?
--Dan
Original Message
From: <tjwalton@u...>
To: <basicstamps@egroups.com>
Sent: Monday, December 04, 2000 6:39 AM
Subject: [noparse][[/noparse]basicstamps] Need help with IRPD
> I have an IRPD hooked up to a basic stamp and it is acting very odd.
> it regularly sees things that are not there, and doesn't see some
> things that are. i have tried everything i can think of from
> pointing it straight up to moving the leds. i have even put
> electrical tape over the receiver and it still thinks it is
> receiving. i have turned the sensitivity down as low as it goes, but
> it is still erratic. any ideas?
>
> thanks!! tom
>
>
>
>
>
________________________________________________________________________
________________________________________________________________________
Message: 7
Date: Mon, 04 Dec 2000 10:10:44 -0500
From: Bruce Bates <bvbates@u...>
Subject: Re: Need help with IRPD
At 02:39 PM Monday 12/4/2000 +0000, you wrote:
>I have an IRPD hooked up to a basic stamp and it is acting very odd.
>it regularly sees things that are not there, and doesn't see some
>things that are. i have tried everything i can think of from
>pointing it straight up to moving the leds. i have even put
>electrical tape over the receiver and it still thinks it is
>receiving. i have turned the sensitivity down as low as it goes, but
>it is still erratic. any ideas?
>
>thanks!! tom
Hi Tom -
Let's start with which IRPD unit you are using. Then, perhaps, we can go on
from there ?
Regards,
Bruce Bates
________________________________________________________________________
________________________________________________________________________
Message: 8
Date: Mon, 4 Dec 2000 09:42:30 -0600
From: "dakota" <rfriedrich@i...>
Subject: Re: NMEA commands?
you might want to look at my site
http://www.inetport.com/~davisele/fc.html
I did it by looking at the manuals for the gps card
getting the data into the stamp wasnt difficult but it was in string format.
I spent a fair amount of time parsing out the data and then converting it
into numeric format. If you want to control a vehicle then I am sure you
want a number for a location rather that a string representation for a
location. There was a guy that posted his codee for the string conversion
about a year ago - you might want to check the archives - his code on the
format conversion was a little more cleaner and compact than mine.
I wanted to get the data in binary format but was too lazy to do that (all I
really wanted was to ask the gps its last known position - and then receive
an answer)
richard
Original Message
From: "Matthew K" <m_klarich@y...>
To: <basicstamps@egroups.com>
Sent: Monday, December 04, 2000 12:00 AM
Subject: [noparse][[/noparse]basicstamps] NMEA commands?
> I am looking to use a 12 channel GPS receiver to fly
> my R/C airplane around. I have found someone who
> created one of these but he used a much faster chip
> then the stamp 2. I want to get the basics down first
> and in order to do that I need to decipher the NMEA
> data that the GPS receiver is emitting. Does anyone
> have that data so I do not have to spend hours walking
> around and seeing the differences in the code?
>
> Thanks much,
>
> Matt Klarich
>
> __________________________________________________
> Do You Yahoo!?
> Yahoo! Shopping - Thousands of Stores. Millions of Products.
> http://shopping.yahoo.com/
>
>
>
________________________________________________________________________
________________________________________________________________________
Message: 9
Date: Mon, 4 Dec 2000 10:57:02 -0500
From: "Michael Hendricks" <mjh80@b...>
Subject: Re: NMEA commands?
Here is a simple way to read in NMEA data....
This reads the important data from RMC, GGA, and GSA strings... it converts
the data on the fly and can read fastenough to read all the data for each
sample that is sent each second. Hope this saves you time/space.
serin GPSRX, GPSBaud, GPSTimeout, ReadGpsNoData, [noparse][[/noparse]wait("RMC,"), Wait(","),
SampleStatus, skip(1), dec5 Lat, skip(1), dec1 LatDec1, dec1 LatDec2, dec1
LatDec3, Dec1 LatDec4, skip(1), LatRef, skip(1), dec5 Lon, skip(1), dec1
LonDec1, dec1 LonDec2, dec1 LonDec3, Dec1 LonDec4, skip(1), Ref, skip(1),dec
speed, wait(","), dec heading, wait(","), dec1 DateD1, dec1 DateD2, dec1
DateM1, dec1 DateM2, dec1 DateY1, dec1 DateY2, wait("GGA,"), dec1 TimeH1,
dec1 TimeH2, dec1 TimeM1, dec1 TimeM2, dec1 TimeS1, dec1 TimeS2, Wait(","),
skip(1), wait(","), wait(","),wait(","),wait(","), wait(","), dec NumSats,
wait(","),wait(","), dec alt, wait("GSA,"), wait(","), x]
Original Message
From: "dakota" <rfriedrich@i...>
To: <basicstamps@egroups.com>
Sent: Monday, December 04, 2000 10:42 AM
Subject: Re: [noparse][[/noparse]basicstamps] NMEA commands?
> you might want to look at my site
> http://www.inetport.com/~davisele/fc.html
>
> I did it by looking at the manuals for the gps card
> getting the data into the stamp wasnt difficult but it was in string
format.
> I spent a fair amount of time parsing out the data and then converting it
> into numeric format. If you want to control a vehicle then I am sure you
> want a number for a location rather that a string representation for a
> location. There was a guy that posted his codee for the string conversion
> about a year ago - you might want to check the archives - his code on the
> format conversion was a little more cleaner and compact than mine.
>
> I wanted to get the data in binary format but was too lazy to do that (all
I
> really wanted was to ask the gps its last known position - and then
receive
> an answer)
>
> richard
>
>
>
>
>
Original Message
> From: "Matthew K" <m_klarich@y...>
> To: <basicstamps@egroups.com>
> Sent: Monday, December 04, 2000 12:00 AM
> Subject: [noparse][[/noparse]basicstamps] NMEA commands?
>
>
> > I am looking to use a 12 channel GPS receiver to fly
> > my R/C airplane around. I have found someone who
> > created one of these but he used a much faster chip
> > then the stamp 2. I want to get the basics down first
> > and in order to do that I need to decipher the NMEA
> > data that the GPS receiver is emitting. Does anyone
> > have that data so I do not have to spend hours walking
> > around and seeing the differences in the code?
> >
> > Thanks much,
> >
> > Matt Klarich
> >
> > __________________________________________________
> > Do You Yahoo!?
> > Yahoo! Shopping - Thousands of Stores. Millions of Products.
> > http://shopping.yahoo.com/
> >
> >
> >
>
>
>
>
>
________________________________________________________________________
________________________________________________________________________
Message: 10
Date: Mon, 04 Dec 2000 09:28:58 -0800
From: Tracy Allen <tracy@e...>
Subject: Re: BS2p
>It will definitely work in your INEX board (that's where mine lives)
Hi Jon,
I wonder which pin-out of the BS2p you will describe for your
upcoming N&V article? At the embedded systems conference, Chuck was
showing off both a 40 pin carrier with all 32 i/o's brought out to
pins, and another in the standard 24 pin carrier with 16 i/o's. (on
yellow circuit boards!) And there was yet another prototype on a 24
pin carrier that brought the extra 16 i/o's to a special fine-pitch
header on the end of the board. I just wonder how it will come out?
Having the extra 16 i/o's is sure an attractive possibility, but so
is compatibility with existing sockets.
> there is a new command that allows you to used EE in another program
> bank as storage and retrieval without actually having to switch
> programs. This will be great for datalogging apps
Or to store configuration data for a project in one bank, but access
it directly with reads and writes from any other bank. I can take
some credit for lobbying hard for that one!
best regards,
-- Tracy Allen
http://www.emesystems.com
________________________________________________________________________
________________________________________________________________________
Message: 11
Date: Mon, 04 Dec 2000 19:41:59
From: "fernando hood" <hoodey@h...>
Subject: Unsuscribe
____________________________________________________________________________
_________
Get more from the Web. FREE MSN Explorer download : http://explorer.msn.com
________________________________________________________________________
________________________________________________________________________
Message: 12
Date: Mon, 4 Dec 2000 16:22:25 EST
From: Newzed@a...
Subject: Model Trains
This post is for the 21 model train aficionados who asked for copies of my
model train schematic and codes.
I got tired of the jerky starts and stops using the pulsout command, so I
installed a Parallax servo on the shaft of the train power supply speed
control. After a few trial and error servo codes it works beautifully. The
start and stops are very smooth and very realistic. I used a gimbaled shaft
coupler I found in my junk box which gve my quite a bit of leeway in
installed the servo. Build a bracket for it out of 1/16 aluminum one inch
wide to hold it in position. If you can't find a gimbaled shaft coupler and
have to use a rigid one, you will have to be pretty precise in your
mounting.
I used 1300 for the CW rotation, which gives me about 65 to 70 percent of
full speed, with a pause of 200. This gives a good smooth acceleration and
a
realistic full speed. For navigating the turnouts I used a CW rotation of
850 with a pause of 200 which gave me a smooth slow speed for passing
through
the switches. CCW rotation in all cases was 300. If you decide to go this
route I suggest you put a "servo reset" routine at the beginning of your
program to make sure the servo always starts from full CCW.
If your program requires that one train stop while the other is running, you
will, of course have to use a pulsout command for that instance. I'm
thinking of another power supply and another servo so I can control each
track individually.
Any questions e-mail me direct.
Have fun
Sid
________________________________________________________________________
________________________________________________________________________
Message: 13
Date: Mon, 4 Dec 2000 16:30:59 EST
From: jonwms@a...
Subject: Re: BS2p
In a message dated 12/4/00 11:38:04 AM Central Standard Time,
tracy@e... writes:
> Hi Jon,
> I wonder which pin-out of the BS2p you will describe for your
> upcoming N&V article? At the embedded systems conference, Chuck was
> showing off both a 40 pin carrier with all 32 i/o's brought out to
> pins, and another in the standard 24 pin carrier with 16 i/o's. (on
> yellow circuit boards!) And there was yet another prototype on a 24
> pin carrier that brought the extra 16 i/o's to a special fine-pitch
> header on the end of the board. I just wonder how it will come out?
> Having the extra 16 i/o's is sure an attractive possibility, but so
> is compatibility with existing sockets.
My focus has been on the BS2p-24 (the auxiliary header on the BS2p-24 has
gone away in production) for the compatibility reasons you suggested. I
have
a 40-pinner and use it from time-to-time. The real exciting stuff is the
LCD, One-Wire and I2C stuff in both -- I love it.
The BS2p is known around Parallax halls as "the golden Stamp" because of its
unique color. Ken Gracey tells me that the BS2p will ship mid-to-late
January. It really is the best new Stamp in a very long time.
________________________________________________________________________
________________________________________________________________________
Message: 14
Date: Mon, 4 Dec 2000 16:48:27 -0600
From: "Kevin Johnson" <kevrjohn@h...>
Subject: Re: Programming
Hi Everyone,
I am having a similar problem. I am designing a robot that appears to
move within its program ok, but it won't access the navigation routines.
The robot uses standard DC motors attatched to a home-made motor controll
circuit. Would some kind person please take a look and tell me what is
wrong. The program is designed to take user input and let the pilot steer
untill the robot hits something then the robot executes an evasion routine
except when the "special modes" are active. Heres the program.
DIRS = %0000000000001111
front_left_whisker var in4
front_right_whisker var in5
rear_left_whisker var in6
rear_right_whisker var in7
forward_march var in8
march_left var in9
march_right var in10
backward_march var in11
manual_only var in12
auto_only var in13
' forward_march var in8
' march_left var in9
' march_right var in10
' backward_march var in11
' manual_only var in12 This overides the whiskers
' auto_only var in13 This ovverides the pilot to
let the robot wander forward
' these variables all are attatched to normally closed buttons and are
activated when
' they = 0
' all the whisker variables when their switches close = 1
main:
debug "main",cr
if manual_only=0 then manual_control
if auto_only=0 then auto_forward
goto scan
'---- the evade functions are named for where the object is relative to the
robot --
scan:
debug "scan",cr
if front_left_whisker=1 & front_right_whisker=1 then u_turn
if rear_left_whisker=1 & rear_right_whisker=1 then forward
if front_left_whisker=1 then evade_forward_left
if front_right_whisker=1 then evade_forward_right
if rear_left_whisker=1 then evade_reverse_left
if rear_right_whisker=1 then evade_reverse_right
if auto_only=0 then auto_forward
goto manual_control
auto_forward:
debug "auto forward",cr
gosub forward
if auto_only=0 then scan
goto main
'---- this detects the pilots
orders
manual_control:
debug "manual control",cr
if forward_march=0 then manual_forward
if march_right=0 then manual_turn_right
if march_left=0 then manual_turn_left
if backward_march=0 then manual_backward
goto main
'---- navigation functions and
subroutines
evade_forward_left:
debug "EFL",cr
gosub backward
gosub turn_right
goto scan
evade_forward_right:
debug "EFR",cr
gosub backward
gosub turn_left
goto scan
evade_reverse_left:
debug "ERL" ,cr
gosub forward
gosub turn_left
goto scan
evade_reverse_right:
debug "ERR",cr
gosub forward
gosub turn_right
goto scan
u_turn:
debug "u-turn",cr
gosub backward
gosub turn_right
goto scan
'---- these are the evasion
subroutines
'---- the bits go as
follows
'---- forward left motor, forward right motor, reverse left motor, reverse
right motor-
forward:
outs = %1100
pause 2500
outs = %0000
return
backward:
outs = %0011
pause 5000
outs = %0000
return
turn_right:
outs = %1001
pause 2500
outs = %0000
return
turn_left:
outs = %0110
pause 2500
outs = %0000
return
manual_forward:
outs = %1100
pause 1000
outs = %0000
return
manual_backward:
outs = %0011
pause 1000
outs = %0000
return
manual_turn_right:
outs = %1001
pause 1000
outs = %0000
return
manual_turn_left:
outs = %0110
pause 1000
outs = %0000
return
'---- the
end
Original Message
From: "Bruce Bates" <bvbates@u...>
To: <basicstamps@egroups.com>
Sent: Monday, December 04, 2000 4:38 AM
Subject: Re: [noparse][[/noparse]basicstamps] Programming
> At 09:13 AM Monday 12/4/2000 +0000, you wrote:
> John -
>
> >Can anyone help me, I'm getting real desperate now.
>
> I'm not sure : (
>
> >You see its all to do with programming.
>
> I'm NOT SURE that is true ! I suspect it has MORE to do with the
> capabilities (or lack thereof) of the Polaroid 6500 board !
>
> > I have a BSII connected to a Polariod 6500 module and a PAK VIII which
> > is connected to the Stamp and two servo's. Now I have programmes for
> > running each piece of kit individually, but I have no idea how to get
> > them to work together, I've tried reading through the Basic Stamp
manual,
> > and from them I can pretty much work out how each programme works, but I
> > can't figure out how they work together.
>
> IF they work properly apart, that SHOULD be all that you need. It ALMOST
> sounds as though there is a problem passing data internal to the program.
> E.g. You are "reading" binary, and presuming it is ASCII, or something of
> that nature.
>
> >Here's what I'm trying to do :-
>
> >Switch on Robot
> >Robot uses Polariod Sensor to detected objects
> >If objects are close by it sends a command to the PAK VIII to change
direction
> >it keeps doing this until there are no objects in its path.
>
> This MAY BE never, if the objects in question are too close OR too far
away.
> There are TWO opportunities for NO ECHO within the time frame. One occurs
> when the echo is TOO LATE, and the other occurs when the echo is TOO
EARLY.
> The 6500 Board documentation says " Accurate Sonar Ranging from 6" to 35
FT
> ". Add to that what you will find below regarding ringing time, and this
> may not be as accurate a method as you may suspect. There is also a
> question as to how you are using the board - it has more than one mode of
> operation.
>
> >When path is clear of any close object (i.e any objects within 30cm) it
> >takes another reading from the sensor to judge how much the path is
clear.
> >Lets say the distance is 100cm then the BSII sends instructions to the
PAK
> >VIII to move the robot forward 90 cm or until the sensor detects an
object
> >10cm in front of it.
> >It then repeats the programme.
>
> IMHO, that would take accuracy and repeatability greater then the Polaroid
> 6500 board has, when you consider delays in the software - which we
> presently DON'T SEE. Just by way of reference, the ARobot documentation on
> the Arrick Robot web site
> [noparse]/noparse][url=http://www.robotics.com/arobot]http://www.robotics.com/arobot[/url shows a 9 second ringing period which
must
> be considered on that platform (excerpted from the ARobot Sonar
Documentation):
>
> QUOTE
> sonar:
> high init ' hit transducer.
> pause 1 ' pause for ringing.
> high binh ' raise inhibit.
> rctime echo,0,dist ' wait for echo.
> dist=dist/73+9 ' dist has number of inches.
> ' offset for ringing is 9
inches.
> ' sound travels 1 inch in 73us.
> ' rctime increments 2us.
> pause 40 ' give it a rest.
> low init ' reset sonar pins.
> low binh
> return ' done.
> END QUOTE
> >
> >I know this requires a lot of programming, as I say I can control each
> >circuit individually, I just can't seem to tie them together. I'm pretty
> >sure someone out there has a similar set-up, if so please help, I've
spent
> >a lot of time and money for something that whizzes around making clicking
> >noises and well just bangs into things.
>
> A copy of your present program would SURELY help.
>
> >Many, many thanks in advance to all that can help
> >John
>
> We keep trying : )
>
> Regards,
>
> Bruce Bates
>
>
>
>
>
________________________________________________________________________
________________________________________________________________________
Message: 15
Date: Mon, 4 Dec 2000 16:49:46 -0600
From: "Kevin Johnson" <kevrjohn@h...>
Subject: Re: Programming
Sorry forgot to say I have a BS2 board of education.
Original Message
From: "Kevin Johnson" <kevrjohn@h...>
To: <basicstamps@egroups.com>
Sent: Monday, December 04, 2000 4:48 PM
Subject: Re: [noparse][[/noparse]basicstamps] Programming
> Hi Everyone,
>
> I am having a similar problem. I am designing a robot that appears to
> move within its program ok, but it won't access the navigation routines.
> The robot uses standard DC motors attatched to a home-made motor controll
> circuit. Would some kind person please take a look and tell me what is
> wrong. The program is designed to take user input and let the pilot steer
> untill the robot hits something then the robot executes an evasion routine
> except when the "special modes" are active. Heres the program.
>
> DIRS = %0000000000001111
>
> front_left_whisker var in4
> front_right_whisker var in5
> rear_left_whisker var in6
> rear_right_whisker var in7
> forward_march var in8
> march_left var in9
> march_right var in10
> backward_march var in11
> manual_only var in12
> auto_only var in13
>
> ' forward_march var in8
> ' march_left var in9
> ' march_right var in10
> ' backward_march var in11
> ' manual_only var in12 This overides the whiskers
> ' auto_only var in13 This ovverides the pilot to
> let the robot wander forward
> ' these variables all are attatched to normally closed buttons and are
> activated when
> ' they = 0
> ' all the whisker variables when their switches close = 1
>
>
> main:
>
> debug "main",cr
> if manual_only=0 then manual_control
> if auto_only=0 then auto_forward
> goto scan
>
> '---- the evade functions are named for where the object is relative to
the
> robot --
>
> scan:
>
> debug "scan",cr
> if front_left_whisker=1 & front_right_whisker=1 then u_turn
> if rear_left_whisker=1 & rear_right_whisker=1 then forward
> if front_left_whisker=1 then evade_forward_left
> if front_right_whisker=1 then evade_forward_right
> if rear_left_whisker=1 then evade_reverse_left
> if rear_right_whisker=1 then evade_reverse_right
> if auto_only=0 then auto_forward
> goto manual_control
>
>
> auto_forward:
>
> debug "auto forward",cr
> gosub forward
> if auto_only=0 then scan
> goto main
>
>
> '---- this detects the pilots
> orders
>
>
> manual_control:
>
> debug "manual control",cr
> if forward_march=0 then manual_forward
> if march_right=0 then manual_turn_right
> if march_left=0 then manual_turn_left
> if backward_march=0 then manual_backward
> goto main
>
>
> '---- navigation functions and
> subroutines
>
> evade_forward_left:
>
> debug "EFL",cr
> gosub backward
> gosub turn_right
> goto scan
>
> evade_forward_right:
>
> debug "EFR",cr
> gosub backward
> gosub turn_left
> goto scan
>
> evade_reverse_left:
>
> debug "ERL" ,cr
> gosub forward
> gosub turn_left
> goto scan
>
> evade_reverse_right:
>
> debug "ERR",cr
> gosub forward
> gosub turn_right
> goto scan
>
> u_turn:
>
> debug "u-turn",cr
> gosub backward
> gosub turn_right
> goto scan
>
> '---- these are the evasion
> subroutines
> '---- the bits go as
> follows
> '---- forward left motor, forward right motor, reverse left motor, reverse
> right motor-
> forward:
>
> outs = %1100
> pause 2500
> outs = %0000
> return
>
> backward:
>
> outs = %0011
> pause 5000
> outs = %0000
> return
>
> turn_right:
>
> outs = %1001
> pause 2500
> outs = %0000
> return
>
> turn_left:
>
> outs = %0110
> pause 2500
> outs = %0000
> return
>
> manual_forward:
>
> outs = %1100
> pause 1000
> outs = %0000
> return
>
> manual_backward:
>
> outs = %0011
> pause 1000
> outs = %0000
> return
>
> manual_turn_right:
>
> outs = %1001
> pause 1000
> outs = %0000
> return
>
> manual_turn_left:
>
> outs = %0110
> pause 1000
> outs = %0000
> return
>
> '---- the
>
end
>
>
>
>
Original Message
> From: "Bruce Bates" <bvbates@u...>
> To: <basicstamps@egroups.com>
> Sent: Monday, December 04, 2000 4:38 AM
> Subject: Re: [noparse][[/noparse]basicstamps] Programming
>
>
> > At 09:13 AM Monday 12/4/2000 +0000, you wrote:
> > John -
> >
> > >Can anyone help me, I'm getting real desperate now.
> >
> > I'm not sure : (
> >
> > >You see its all to do with programming.
> >
> > I'm NOT SURE that is true ! I suspect it has MORE to do with the
> > capabilities (or lack thereof) of the Polaroid 6500 board !
> >
> > > I have a BSII connected to a Polariod 6500 module and a PAK VIII
which
> > > is connected to the Stamp and two servo's. Now I have programmes for
> > > running each piece of kit individually, but I have no idea how to get
> > > them to work together, I've tried reading through the Basic Stamp
> manual,
> > > and from them I can pretty much work out how each programme works, but
I
> > > can't figure out how they work together.
> >
> > IF they work properly apart, that SHOULD be all that you need. It ALMOST
> > sounds as though there is a problem passing data internal to the
program.
> > E.g. You are "reading" binary, and presuming it is ASCII, or something
of
> > that nature.
> >
> > >Here's what I'm trying to do :-
> >
> > >Switch on Robot
> > >Robot uses Polariod Sensor to detected objects
> > >If objects are close by it sends a command to the PAK VIII to change
> direction
> > >it keeps doing this until there are no objects in its path.
> >
> > This MAY BE never, if the objects in question are too close OR too far
> away.
> > There are TWO opportunities for NO ECHO within the time frame. One
occurs
> > when the echo is TOO LATE, and the other occurs when the echo is TOO
> EARLY.
> > The 6500 Board documentation says " Accurate Sonar Ranging from 6" to 35
> FT
> > ". Add to that what you will find below regarding ringing time, and this
> > may not be as accurate a method as you may suspect. There is also a
> > question as to how you are using the board - it has more than one mode
of
> > operation.
> >
> > >When path is clear of any close object (i.e any objects within 30cm) it
> > >takes another reading from the sensor to judge how much the path is
> clear.
> > >Lets say the distance is 100cm then the BSII sends instructions to the
> PAK
> > >VIII to move the robot forward 90 cm or until the sensor detects an
> object
> > >10cm in front of it.
> > >It then repeats the programme.
> >
> > IMHO, that would take accuracy and repeatability greater then the
Polaroid
> > 6500 board has, when you consider delays in the software - which we
> > presently DON'T SEE. Just by way of reference, the ARobot documentation
on
> > the Arrick Robot web site
> > [noparse]/noparse][url=http://www.robotics.com/arobot]http://www.robotics.com/arobot[/url shows a 9 second ringing period which
> must
> > be considered on that platform (excerpted from the ARobot Sonar
> Documentation):
> >
> > QUOTE
> > sonar:
> > high init ' hit transducer.
> > pause 1 ' pause for ringing.
> > high binh ' raise inhibit.
> > rctime echo,0,dist ' wait for echo.
> > dist=dist/73+9 ' dist has number of inches.
> > ' offset for ringing is 9
> inches.
> > ' sound travels 1 inch in
73us.
> > ' rctime increments 2us.
> > pause 40 ' give it a rest.
> > low init ' reset sonar pins.
> > low binh
> > return ' done.
> > END QUOTE
> > >
> > >I know this requires a lot of programming, as I say I can control each
> > >circuit individually, I just can't seem to tie them together. I'm
pretty
> > >sure someone out there has a similar set-up, if so please help, I've
> spent
> > >a lot of time and money for something that whizzes around making
clicking
> > >noises and well just bangs into things.
> >
> > A copy of your present program would SURELY help.
> >
> > >Many, many thanks in advance to all that can help
> > >John
> >
> > We keep trying : )
> >
> > Regards,
> >
> > Bruce Bates
> >
> >
> >
> >
> >
>
________________________________________________________________________
________________________________________________________________________
Message: 16
Date: Mon, 04 Dec 2000 23:27:36 -0000
From: tjwalton@u...
Subject: Re: Need help with IRPD
i have not tried a pull up resistor(i don't know which or where,
though there is a place for an optional one right by the receiver on
the board. it is supposed to work with the Basic Stamp, there was
code, but no reference to actually using the resistor).
it is a Lynxmotion IRPD, purchased from MondoTronics.
--- In basicstamps@egroups.com, tjwalton@u... wrote:
> I have an IRPD hooked up to a basic stamp and it is acting very
odd.
> it regularly sees things that are not there, and doesn't see some
> things that are. i have tried everything i can think of from
> pointing it straight up to moving the leds. i have even put
> electrical tape over the receiver and it still thinks it is
> receiving. i have turned the sensitivity down as low as it goes,
but
> it is still erratic. any ideas?
>
> thanks!! tom
________________________________________________________________________
________________________________________________________________________
Message: 17
Date: Mon, 04 Dec 2000 20:21:13 -0600
From: "Alex Burke" <ajb_robotics@h...>
Subject: Re: Re: Need help with IRPD!!!
Tom,
Don't feel bad... the same thing keeps happening to me to! Although, I
did build my IRPD using a schematic I had... but none the less you are
right, it tells me that it keeps finding things when nothing is there, and
doesn't pick up half of the stuff that I put in front of it!!!!
About 2 months ago, I finally gave up on it. I decided it was some thing
that wrong with my board (even though I had tried making it several
different ways, and rebuilt it more than half a dozen times). I went and
bought the sharp GPDO2's (these are tiny IR's with small ranging
capability) All I had to do was plug it directly to my stamp, and to power
(+ or- a resistor here and there) Then it should have worked but IT DID THE
EXACT SAME THING!!!!! I do not know what to do any more, and I am about to
give up on it... I know that it is not the code because I used the one that
they used (the companies) I know that it is not the IR's either because all
4 that I have do the exact same thing!!!
Sorry that I am not any help to you Tom, but I figured that I would let you
know that you are not alone! AND IF there is any body out there that knows
what the hek we are doing wrong please let us know!!! Thanks in advance for
any one who can help. -Alex Burke
>From: tjwalton@u...
>Reply-To: basicstamps@egroups.com
>To: basicstamps@egroups.com
>Subject: [noparse][[/noparse]basicstamps] Re: Need help with IRPD
>Date: Mon, 04 Dec 2000 23:27:36 -0000
>
>i have not tried a pull up resistor(i don't know which or where,
>though there is a place for an optional one right by the receiver on
>the board. it is supposed to work with the Basic Stamp, there was
>code, but no reference to actually using the resistor).
>
>it is a Lynxmotion IRPD, purchased from MondoTronics.
>
>
>
>--- In basicstamps@egroups.com, tjwalton@u... wrote:
> > I have an IRPD hooked up to a basic stamp and it is acting very
>odd.
> > it regularly sees things that are not there, and doesn't see some
> > things that are. i have tried everything i can think of from
> > pointing it straight up to moving the leds. i have even put
> > electrical tape over the receiver and it still thinks it is
> > receiving. i have turned the sensitivity down as low as it goes,
>but
> > it is still erratic. any ideas?
> >
> > thanks!! tom
>
>
>
>
____________________________________________________________________________
_________
Get more from the Web. FREE MSN Explorer download : http://explorer.msn.com
________________________________________________________________________
________________________________________________________________________
Message: 18
Date: Mon, 4 Dec 2000 19:04:25 -0800
From: "Dan Gustafson" <dankgus@e...>
Subject: Re: Re: Need help with IRPD
I have used detectors of different types, and in several instances, one of
the detectors states (active or not active, I don't remember, but it doesnt
matter) the detector output was just left floating. The stamp had trouble
reading the state of the pin, so I had to use a pullup resistor to keep the
pin high while the pin would normally be floating.
--Dan
Original Message
From: <tjwalton@u...>
To: <basicstamps@egroups.com>
Sent: Monday, December 04, 2000 3:27 PM
Subject: [noparse][[/noparse]basicstamps] Re: Need help with IRPD
> i have not tried a pull up resistor(i don't know which or where,
> though there is a place for an optional one right by the receiver on
> the board. it is supposed to work with the Basic Stamp, there was
> code, but no reference to actually using the resistor).
>
> it is a Lynxmotion IRPD, purchased from MondoTronics.
>
>
>
> --- In basicstamps@egroups.com, tjwalton@u... wrote:
> > I have an IRPD hooked up to a basic stamp and it is acting very
> odd.
> > it regularly sees things that are not there, and doesn't see some
> > things that are. i have tried everything i can think of from
> > pointing it straight up to moving the leds. i have even put
> > electrical tape over the receiver and it still thinks it is
> > receiving. i have turned the sensitivity down as low as it goes,
> but
> > it is still erratic. any ideas?
> >
> > thanks!! tom
>
>
>
>
>
________________________________________________________________________
________________________________________________________________________
Message: 19
Date: Mon, 04 Dec 2000 20:50:02 -0700
From: David or Laura Armistead <djarmis@p...>
Subject: unsubscribe
Ray McArthur wrote:
> Tim, thanks for the reference;
>
> Homefly has neat stuff....how prompt is their delivery, especially for the
> airplane items?
>
> Regards,
> Ray McArthur
>
>
Original Message
> From: Tim Goldstein <timg@k...>
> To: <basicstamps@egroups.com>
> Sent: Saturday, December 02, 2000 1:45 PM
> Subject: RE: [noparse][[/noparse]basicstamps] Miniature gears
>
> > Try http://www.idnet.de/homepage/scholl/Englisch/light_ng.htm for the
> > smallest and lightest servos available. They do not use a geartrain like
> > most, but a single spur and pinion gear driving a screw and provide a
> linear
> > not rotary output. They are available in the USA from
> > http://www.homefly.com/
> << snip >>
________________________________________________________________________
________________________________________________________________________
Message: 20
Date: Mon, 04 Dec 2000 23:40:37 -0500
From: Bruce Bates <bvbates@u...>
Subject: Re: Re: Need help with IRPD
At 11:27 PM Monday 12/4/2000 +0000, you wrote:
>i have not tried a pull up resistor(i don't know which or where,
>though there is a place for an optional one right by the receiver on
>the board. it is supposed to work with the Basic Stamp, there was
>code, but no reference to actually using the resistor).
>
>it is a Lynxmotion IRPD, purchased from MondoTronics.
>
>Hi again Tom et al -
After visiting the Lynxmotion web site, I found some interesting information
!
There are "Tech Tips" on the Home page of the Lynxmotion web site
[noparse][[/noparse] http://www.lynxmotion.com/index.htm ] which indicate various
troubleshooting steps for IRPD sensors. My suggestion would be to perform
those steps, as indicated, and if they fail to bring any problem resolution
then contact the Lynxmotion tech support folks at : " tech@L... "
.
At the end of that section there are also some comments about REPLACEMENT
PARTS that MAY be needed. Thus, there MAY BE problem INHERENT in the
circuitry itself, and NO AMOUNT of STAMP troubleshooting will provide an
appropriate answer.
If that all fails, please advise, and we can continue with the problem
determination here, but let's have Lynxmotion do their share firat, as any
vendor is usually willing to do.
Hope this starts you back to a successful path.
Regards,
Bruce Bates
>--- In basicstamps@egroups.com, tjwalton@u... wrote:
> > I have an IRPD hooked up to a basic stamp and it is acting very
>odd.
> > it regularly sees things that are not there, and doesn't see some
> > things that are. i have tried everything i can think of from
> > pointing it straight up to moving the leds. i have even put
> > electrical tape over the receiver and it still thinks it is
> > receiving. i have turned the sensitivity down as low as it goes,
>but
> > it is still erratic. any ideas?
> >
> > thanks!! tom
________________________________________________________________________
________________________________________________________________________
Message: 21
Date: Tue, 05 Dec 2000 00:20:40 -0500
From: Bruce Bates <bvbates@u...>
Subject: Re: Re: Need help with IRPD!!!
At 08:21 PM Monday 12/4/2000 -0600, you wrote:
>Tom,
>
> Don't feel bad... the same thing keeps happening to me to! Although,
I
>did build my IRPD using a schematic I had... but none the less you are
>right, it tells me that it keeps finding things when nothing is there, and
>doesn't pick up half of the stuff that I put in front of it!!!!
>
>About 2 months ago, I finally gave up on it. I decided it was some thing
>that wrong with my board (even though I had tried making it several
>different ways, and rebuilt it more than half a dozen times). I went and
>bought the sharp GPDO2's (these are tiny IR's with small ranging
>capability)
<snipped>
>Sorry that I am not any help to you Tom, but I figured that I would let you
>know that you are not alone! AND IF there is any body out there that knows
>what the hek we are doing wrong please let us know!!! Thanks in advance for
>any one who can help. -Alex Burke
Hi Alex et al -
As much as I'm hesitant to say this, there may be a lesson learned here. If
one purchase parts on their own, as opposed to purchasing them from a
distributor, or other vendor, one then is responsible for ones own
troubleshooting. If one is prepared to do that - fine ! Many folks here
have the proper equipment to do so, and even lend their expertise towards
assisting others.
Personally, on my own platform, I wouldn't begin to troubleshoot this
particular problem without an oscilloscope, a light meter, Kodak 90% White
paper (photographic paper), a DVM or decent meter, a suitable metric ruler,
an IR light detector, and a suitable source of back lighting to test for
ambient light problems. Without that, I'd be spinning my wheels, as many
folks here often seem to be doing with light oriented hardware
troubleshooting difficulties. Simply put - rarely are they Stamp problems
per se, although as many have pointed out, this forum is a wealth of
information, and some of us are crazy enough to respond to all sorts of
troubleshooting messages : )
My sole point here is - if you need support, particularly hardware support,
the better route is often to align yourself and your purchases with one or
more vendors who offer support, and there are plenty of them on this list.
If you have the equipment mentioned above, I'd be happy to compose and
transmit a list of troubleshooting steps. I will await your response, or
that of others with similar position indicating device problems. These are
generally separate from more generalized IRPD problems, and specifically
unique with the Sharp GPD2D02 sensors.
Regards,
Bruce Bates
________________________________________________________________________
________________________________________________________________________
>unsubscribe
[noparse][[/noparse]...]
Erm, did you HAVE to quote 21 messages just to unsubscribe??
In any case you'd directed the email to the wrong address!
--
Regards,
Derryck Croker
_________________________________________________________________________
Get Your Private, Free E-mail from MSN Hotmail at http://www.hotmail.com.
> There are 19 messages in this issue.
>
> Topics in this digest:
>
> 1. Re: BS1 download error
> From: Bruce Bates <bvbates@u...>
> 2. Re: Digest Number 396
> From: sean975@a...
> 3. Hacking a PIR
> From: "Mark Borden" <markb@u...>
> 4. Re: Multiplexing (?)
> From: "Philippe Derenne" <derennep@s...>
> 5. Re: Digest Number 396
> From: Bruce Bates <bvbates@u...>
> 6. Re: Re: Beginner problem - parallel port conection
> From: "Philippe Derenne" <derennep@s...>
> 7. Measuring acceleration
> From: Todd Botner <contacttodd@y...>
> 8. oscillator
> From: "James Hardy" <jahardy33@h...>
> 9. Re: Measuring acceleration
> From: Lvetri@a...
> 10. Re: Measuring acceleration
> From: Bruce Bates <bvbates@u...>
> 11. RE: PCBs
> From: s premena <premzee@j...>
> 12. RE: NMEA And APRS
> From: orthner@s...
> 13. Re: Measuring acceleration
> From: orthner@s...
> 14. Switches
> From: Forbesits@y...
> 15. Re: Switches
> From: "Ray McArthur" <rjmca@u...>
> 16. Re: Switches
> From: Forbesits@y...
> 17. RE: Re: Switches
> From: "Tim Goldstein" <timg@k...>
> 18. Re: Re: Switches
> From: "Ray McArthur" <rjmca@u...>
> 19. Re: Switches
> From: Tracy Allen <tracy@e...>
>
> ________________________________________________________________________
> ________________________________________________________________________
>
> Message: 1
> Date: Wed, 27 Dec 2000 08:13:32 -0500
> From: Bruce Bates <bvbates@u...>
> Subject: Re: BS1 download error
>
> At 11:55 PM Tuesday 12/26/2000 -0500, Fehknt
To: basicstamps@egroups.com
Date: Thu, 28 Dec 2000 08:12:25 -0800
>basicstamps@egroups.com wrote:
>
>> There are 19 messages in this issue.
>>
>> Topics in this digest:
Any chance of not quoting a huge message as your vehicle for
unsubscribing? In any case, you've sent it to the wrong address!!!
--
Regards,
Derryck Croker
> Evening all:
>
> I have one of those MSI piezo sensors
> (p/n#0-1002794-1 at digikey) I put it
> on my o-scope and tapped it, it briefly outputs 40+
> volts output/5mS or so.
>
> I want to read this piezo ouput with the BS2, I've
> rigged up a 5.1 v zener
> diode with a 220 ohm resistor to so it doesn't go
> past 5 volts and mess up
> my LTC1298 ADC.
>
> This doesn't work.
>
> I want to read this piezo output with my BS2 with
> the LTC1298 ADC.
>
> Anyone got any ideas?
>
> Thanks,
>
> Mark
>
>
>
>
> .
> one got any ideas?
>
> Thanks,
>
> Mark
>
>
>
>
> .
>
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Do You Yahoo!?
Yahoo! Photos - Share your holiday photos online!
http://photos.yahoo.com/
Regards
Tommy Tan
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