Steering servo and DC motor with ESC

Vladimir059

Hello everybody. My name is Vladimir and I’m beginner in Basic Stamp2. As I’m very lazy to do a home cleaning and my apartment serves me also as a workshop so I decided to make my life easier and build robot vacuum cleaner similar to IRobot’s·· “Roomba”. Buying such things from a store offends me as designer and decided to make it myself.· I have no problem with designing mechanical parts and assemblies, I don’t think I will have any problems with electronics, but I expect some difficulties with programming.· I’m currently reading “Basic Stamp Syntax and Reference Manual”, but to start with it I need a sample of wandering program. For my “MonsterVac”· I’m going to employ steering servo. For propulsion I’m going to use DC motor with a·hobby ESC- forward / reverse (hobby ESC using the same signals as standard hobby servo) ,· and two infrared sensors to collision avoidance. This is my basic set up. In future I’m planning to hook up a metal detector for searching and careful cleaning of metal shavings.· I checked up Parallax web site and found that all robots mentioned there using two continuous rotating servos. For my application such scheme not acceptable I have to employ steering wheels and due to relatively heavy structure I have to use powerful DC motor and accordingly ESC.
So if somebody have a sample of program to meets all this requirements, please let me know. I’m also appreciate for any input device subroutines which can improve “sensing” of my “devil machine” as ultrasonic sensors, whiskers, co-processor, wireless video camera, LCD display to monitor cleaning progress and so on.···
Thank you in advance
Vladimir.···

A.C. fishing

' {$STAMP BS2}
' {$PBASIC 2.5}


DEBUG "Program Running!"
irDetectLeft VAR Bit
irDetectRight VAR Bit
pulseLeft VAR Word
pulseRight VAR Word

DO
FREQOUT A, 1, 38500
irDetectLeft = INB
FREQOUT C, 1, 38500
irDetectRight = IND
IF (irDetectLeft = 0) AND (irDetectRight = 0) THEN
pulseLeft = 650
pulseRight = 850
ELSEIF (irDetectLeft = 0) THEN
pulseLeft = 850
pulseRight = 850
ELSEIF (irDetectRight = 0) THEN
pulseLeft = 650
pulseRight = 850
ELSE
pulseLeft = 850
pulseRight = 650
ENDIF
PULSOUT E, pulseLeft
PULSOUT F, pulseRight
PAUSE 15
LOOP

A= IR LED 1's anode Pin
B= IR Receiver 1's output Pin
c= IR LED 2's anode Pin
d= IR Receiver 2's output Pin
e= left servo's pin
f= right servo's pin
(I know this will work for a Board of Education)
If you don't have a parallax board I sugest this one.

Jon Williams

This thread is a duplicate and is being locked.

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Jon Williams
Applications Engineer, Parallax