PENGUIN ROBOT Scouting Feet - the Code
Penguin Scouting Feet Code
Penguin has scouting feet! penguin_scouting_feet.bpx
is a new program to make Penguin robot very useful, for
keeping track of directions. The code uses motion control
mixed with the compass.
Penguins feet will automatically turn in a left or right direction
by taking small special turn-steps until North is reached.
Penguin bot will stop when directly facing North.
This direction finder program works day or night, under
overcast skies, and the only requirement is a small walking
surface for Penguin.
humanoido
Penguin has scouting feet! penguin_scouting_feet.bpx
is a new program to make Penguin robot very useful, for
keeping track of directions. The code uses motion control
mixed with the compass.
Penguins feet will automatically turn in a left or right direction
by taking small special turn-steps until North is reached.
Penguin bot will stop when directly facing North.
This direction finder program works day or night, under
overcast skies, and the only requirement is a small walking
surface for Penguin.
humanoido
' Title Penguin Scouting Feet ' Code Name penguin_scouting_feet.bpx ' Purpose Penguin Turns Until North is Found ' Author humanoido ' Version 1.1 ' Begin 26 August 2007 ' Update 18 October 2007 ' Hardware Stock Penguin ' TURNING STEP & "SUBRETURN" ' -------------------------- ' The turning step is a special one to increase accuracy on degree ' count. First, a standard full step is taken, immediately followed ' by a sub-return step. The smaller degree'ed subreturn step ' increases the turn accuracy. This minimizes the spurious reading ' and zone oscillation. ' To find North faster and more efficiently, if Penguin is ' between North-West-South range, the turn is right. Between ' North-East-South, the turn is left. North zone is 10 degrees on ' either side of 360 degrees. This subdues spurious readings and zone ' oscillation. When North is faced, Penguin stops turning. ' DOUBLE CALIBRATION ' ------------------ ' The servos must be calibrated with either of the following programs ' before this program will run: ' penguin_automatic_servo_calibrator.bpx ' Penguin-ServoCalibration.bpx ' The compass must also be calibrated to return accurate program ' results.
humanoido said...
There's an initial four new compass programs for Penguin robot
in the works. This is one of four. After completion of the remaining
three, the novel ROBOTIC PENGUIN RADIO SCANNER will be forthcoming.
This uses directional tuning as a spin-off of compass code!
