Shop OBEX P1 Docs P2 Docs Learn Events
need help programming my bs2e with servos — Parallax Forums

need help programming my bs2e with servos

roboneticsrobonetics Posts: 16
edited 2005-09-08 15:49 in BASIC Stamp
Hello All,
············ I'm looking for some help with the programming part, but so far, no one has helped me with programming.i am new at this using the bs2e board & a ssc-32 board. i've been learning as i go. i do know how to write programs in qbasic or vb6, but not with pbasic to get a servo to move etc.

i want to learn how to make a data base for my bipedal robot so it can think on it's own, also trying to find a better way to program the bs2e board with out using the SEROUT command for the servos being it use to much mem on the bs2e board.

below is a sample of programming i've been using. but get the error"out of mem",·want to fine or have someone else show me a better way to program the board using the servos.

the robot does have a IRPD & i want to program that into the robot also to use, but not sure how to. same goes for a ps2 controller port & a gws gyro.

any help,input or idea's would be great.

thankz
charlie

'*************************************
'*····· program type:STAMP BS2E···················· *
'*······· version:PBASIC 2.5························ ··· *
'*************************************
'* programmer: Charles W. Scilabro Jr·············· *
'*········· Date:8/27/05·································· *
'*·· Email: robonetics@hvc.rr.com····················*
'*************************************
'*········· File:·complete movements················· *
'*************************************

' {$STAMP BS2e}
' {$PBASIC 2.5}
SEROUT 15,6,[noparse][[/noparse]"#27 p900 #10 p1300 #26 p900 #11 p1900 #30 p2500 #14 p2500 #29 p1600 #13 p1200 #28 p1500 #12 p2000 #21 p1200 t1000",13] 'standing pose
PAUSE 1000
SEROUT 15,6,[noparse][[/noparse]"#6 p500 #20 p2300 #5 p1600 #19 p1000 #4 p2000 #18 p1500 #7 p100 #17 p1700 #3 p1500 #16 p1300 t1000",13]··············· 'arm pose
PAUSE 1000
start:
GOSUB leftarm
movehead:
SEROUT 15,6,[noparse][[/noparse]"#21 p1300 t1000",13]
PAUSE 1000
SEROUT 15,6,[noparse][[/noparse]"#23 p1700 t1000",13]
PAUSE 3000
SEROUT 15,6,[noparse][[/noparse]"#23 p2000 t1000",13]
PAUSE 3000
SEROUT 15,6,[noparse][[/noparse]"#23 p1700 t1000",13]
PAUSE 3000
SEROUT 15,6,[noparse][[/noparse]"#23 p1500 t1000",13]
PAUSE 3000
SEROUT 15,6,[noparse][[/noparse]"#23 p1300 t1000",13]
PAUSE 3000
SEROUT 15,6,[noparse][[/noparse]"#23 p1000 t1000",13]
PAUSE 3000
SEROUT 15,6,[noparse][[/noparse]"#23 p500 t1000",13]
PAUSE 3000
SEROUT 15,6,[noparse][[/noparse]"#23 p1350 t1000",13]
PAUSE 3000
GOSUB bendwaist
leftarm:
SEROUT 15,6,[noparse][[/noparse]"#6 p1500 #5 p2000 #4 p1000 #7 p1400 #3 p1700 t1000",13]
PAUSE 1000
SEROUT 15,6,[noparse][[/noparse]"#6 p2000 #5 p2000 #4 p1000 #7 p1400 #3 p1700 t1000",13]
PAUSE 1000
SEROUT 15,6,[noparse][[/noparse]"#6 p1500 #5 p1500 #4 p1500 #7 p1000 #3 p1000 t1000",13]
PAUSE 1000
SEROUT 15,6,[noparse][[/noparse]"#6 p500 #5 p500 #4 p2000 #7 p500 #3 p500 t1000",13]
PAUSE 1000
SEROUT 15,6,[noparse][[/noparse]"#6 p2000 #5 p2000 #4 p1000 #7 p1500 #3 p1700 t1000",13]
PAUSE 1200
GOSUB rightarm
wavelefthand:
SEROUT 15,6,[noparse][[/noparse]"#6 p1800 #4 p1000 t1000",13]
PAUSE 1000
SEROUT 15,6,[noparse][[/noparse]"#4 p2000 t1000",13]
PAUSE 1000
SEROUT 15,6,[noparse][[/noparse]"#4 p1000 t1000",13]
PAUSE 1000
SEROUT 15,6,[noparse][[/noparse]"#4 p2000 t1000",13]
PAUSE 1000
SEROUT 15,6,[noparse][[/noparse]"#6 p100 #5 p1600 #4 p2000 #7 p100 #3 p1500 t1000",13]··············· 'left arm pose
PAUSE 1000
GOSUB waverighthand
rightarm:
SEROUT 15,6,[noparse][[/noparse]"#20 p2300 #19 p1000 #18 p1500 #17 p1700 #16 p1300 t1000",13]··············· 'right arm pose
PAUSE 1000
GOSUB wavelefthand
waverighthand:
SEROUT 15,6,[noparse][[/noparse]"#20 p2300 #18 p1500 t1000",13]
PAUSE 1000
SEROUT 15,6,[noparse][[/noparse]"#18 p2000 t1000",13]
PAUSE 1000
SEROUT 15,6,[noparse][[/noparse]"#18 p1500 t1000",13]
PAUSE 1000
SEROUT 15,6,[noparse][[/noparse]"#18 p2000 t1000",13]
PAUSE 1000
SEROUT 15,6,[noparse][[/noparse]"#20 p2100 #19 p1000 #18 p1500 #17 p1700 #16 p1000 t1000",13]··············· 'right arm pose
PAUSE 1000
GOSUB movehead
bendwaist:
SEROUT 15,6,[noparse][[/noparse]"#21 p1500 t1000",13] ' HOME point
PAUSE 1000
SEROUT 15,6,[noparse][[/noparse]"#21 p1000 t1000",13] 'bends forward
PAUSE 1000
SEROUT 15,6,[noparse][[/noparse]"#21 p2000 t1000",13] ' bends backwards
PAUSE 1000
SEROUT 15,6,[noparse][[/noparse]"#21 p1500 t1000",13] 'home point
PAUSE 1000
GOSUB turnchest
turnchest:
SEROUT 15,6,[noparse][[/noparse]"#22 p1350 t1000",13] ' home point
PAUSE 3000
SEROUT 15,6,[noparse][[/noparse]"#22 p1000 t1000",13] ' turns right
PAUSE 3000
SEROUT 15,6,[noparse][[/noparse]"#22 p1350 t1000",13]· 'home point
PAUSE 3000
SEROUT 15,6,[noparse][[/noparse]"#22 p2000 t1000",13]·· 'turns left
PAUSE 3000
SEROUT 15,6,[noparse][[/noparse]"#22 p1350· t1000",13]· ' home point
PAUSE 3000
GOSUB left_leg
left_leg:
SEROUT 15,6,[noparse][[/noparse]"#10 p1300 #11 P2000 #14 P2500 #13 P1300 #12 P2000 T1000",13]
PAUSE 3000
SEROUT 15,6,[noparse][[/noparse]"#10 P1300 #11 P1000 #14 P1000 #13 P1300 #12 P2000 T1000",13]
PAUSE 3000
SEROUT 15,6,[noparse][[/noparse]"#10 P2000 #11 P1000 #14 P1000 #13 P1000 #12 P1500 T1000",13]
PAUSE 3000
SEROUT 15,6,[noparse][[/noparse]"#10 P1300 #11 P1000 #14 P1000 #13 P1800 #12 P1000 T1000",13]
PAUSE 3000
SEROUT 15,6,[noparse][[/noparse]"#10 P1300 #11 P2000 #14 P2500 #13 P1300 #12 P2000 T1000",13]
PAUSE 3000
GOSUB right_leg

right_leg:
SEROUT 15,6,[noparse][[/noparse]"#27 p900 #26 P800 #30 P2500 #29 P1500 #28 P1600 T1000",13]
PAUSE 1000
SEROUT 15,6,[noparse][[/noparse]"#27 p900 #26 P1500 #30 P2000 #29 P1500 #28 P1600 T1000",13]
PAUSE 3000
SEROUT 15,6,[noparse][[/noparse]"#27 p1100 #26 P1500 #30 P1500 #29 P1000 #28 P1000 T1000",13]
PAUSE 3000
SEROUT 15,6,[noparse][[/noparse]"#27 p900 #26 P1500 #30 P1500 #29 P2000 #28 P2000 T1000",13]
PAUSE 3000
SEROUT 15,6,[noparse][[/noparse]"#27 p900 #26 P800 #30 P2500 #29 P1500 #28 P1600 T1000",13]
PAUSE 3000
GOSUB home_point
home_point:
SEROUT 15,6,[noparse][[/noparse]"#21 p1500 #22 p1350 #23 p1300 #20 p2300 #19 p1000 #18 p1500 #17 p1700 #16 p1300 #6 p1500 #5 p2000 #4 p1000 #7 p1400 #3 p1700 #6 p1500 #5 p2000 #4 p1000 #7 p1400 #3 p1700 #27 p900 #26 P800 #30 P2500 #29 P1500 #28 P1600 t1000",13]
END

Comments

  • Brian CarpenterBrian Carpenter Posts: 728
    edited 2005-09-08 00:43
    you can create a subroutine called SendIt
    that would hold the SEROUT command and structure
    then just use variables and direct them to the SendIt routine for opperation.
    it took my code form 57% to 17%

    ▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔


    It's Only A Stupid Question If You Have Not Googled It First!!
  • roboneticsrobonetics Posts: 16
    edited 2005-09-08 00:54
    can you show me a sample on how i would code it?· something i can use to test on the robot to see what happens when i code it the way your trying to tell me to..again i am new to the pbasic coding.



    thank you for your input.

    charlie
  • SN96SN96 Posts: 318
    edited 2005-09-08 01:24
    I know the BS2E has 8 memory banks, each with 2k program space. It looks like you are only using 1/8th the capacity of the BS2E. I only have a Basic Stamp2 and I am also a newbie. I have not been able to try how to program in multiple banks since I do not have a stamp that has that feature.
    ·
    I know you can use the· RUN, STORE, READ & WRITE commands to access these memory banks. Perhaps someone who has experience can show you how to do this.
    ·
    I wish I could help you more.
    ·
    Mike
  • Brian CarpenterBrian Carpenter Posts: 728
    edited 2005-09-08 04:17
    let me direct you to a different thread.
    http://forums.parallax.com/showthread.php?p=548359
    this is where Jon explained it to me.· Look at the attachements


    ▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔


    It's Only A Stupid Question If You Have Not Googled It First!!
  • roboneticsrobonetics Posts: 16
    edited 2005-09-08 14:48
    Thank you again for you help... Going to check it out.
  • Chris SavageChris Savage Parallax Engineering Posts: 14,406
    edited 2005-09-08 15:49
    Hello,

    ·· Please do not use ALL CAPS when posting messages in the forum.· As to your needing help on understanding lookup tables, it so hapens that we have a robot which makes use of lookup tables.· The Toddler Bot.· The manual can be downloaded from the link below (Bottom of the page).· Reading the section on lookup tables may help you with what you're trying to do.·

    ·· Since you'll be using lookup tables, you will also be able to easily make use of the extra memory on the BS2e, since the tables can be easily read across banks or EEPROM using the STORE command in conjunction with the READ/WRITE commands.

    http://www.parallax.com/detail.asp?product_id=27311

    ▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔
    Chris Savage
    Parallax Tech Support
    csavage@parallax.com
Sign In or Register to comment.