so i was just using the basic competition program and i put it on the bot and the light blinks it makes the beeping but then it jerks suddenly then the light blinks really fast and the beeping speeds up and then it stops I don't know what to do
Yeah the batteries are brand new i can get it to work and do the motor tests but as soon as i put this program on in does not work:
' SumoBot-5.1-Basic-Competition-Program.BS2
' {$STAMP BS2}
' {$PBASIC 2.5}
' -----[ I/O Definitions ]-------------------------------------------------
LMotor PIN 13 ' left servo motor
RMotor PIN 12 ' right servo motor
LLinePwr PIN 10 ' left line sensor power
LLineIn PIN 9 ' left line sensor input
RLinePwr PIN 7 ' right line sensor power
RLineIn PIN 8 ' right line sensor input
LfIrOut PIN 4 ' left IR LED output
LfIrIn PIN 11 ' left IR sensor input
RtIrOut PIN 15 ' right IR LED output
RtIrIn PIN 14 ' right IR sensor input
Speaker PIN 1 ' piezo speaker
StartLED PIN 0 ' display start delay
' -----[ Constants ]-------------------------------------------------------
LFwdFast CON 1000 ' left motor fwd; fast
LFwdSlow CON 800 ' left motor fwd; slow
LStop CON 750 ' left motor stop
LRevSlow CON 700 ' left motor rev; slow
LRevFast CON 500 ' left motor rev; fast
RFwdFast CON 500 ' right motor fwd; fast
RFwdSlow CON 700 ' right motor fwd; slow
RStop CON 750 ' right motor stop
RRevSlow CON 800 ' right motor rev; slow
RRevFast CON 1000 ' right motor rev; fast
' -----[ Variables ]-------------------------------------------------------
lLine VAR Word ' left sensor raw reading
rLine VAR Word ' right sensor raw reading
blackThresh VAR Word ' QTI black threshold
lineBits VAR Nib ' decoded sensors value
lbLeft VAR lineBits.BIT1
lbRight VAR lineBits.BIT0
irBits VAR Nib ' IR readings (l & r)
irLeft VAR irBits.BIT1
irRight VAR irBits.BIT0
lastIr VAR Nib ' info from last reading
pulses VAR Byte ' counter for motor control
temp VAR Byte
' -----[ EEPROM Data ]-----------------------------------------------------
RunStatus DATA $00 ' run status
' -----[ Initialization ]--------------------------------------------------
Reset:
READ RunStatus, temp ' read current status
temp = ~temp ' invert status
WRITE RunStatus, temp ' save for next reset
IF (temp > 0) THEN END ' okay to run?
' Sets black threshold to 1/4 the average of the two sensor readings.
' SumoBot must be placed over black playing surface before this code runs.
Set_Threshold: ' set QTI black threshold
GOSUB Read_Line_Sensors
blackThresh = (lLine / 10) + (rLine / 10)
LOW LMotor ' make more pins outputs
LOW RMotor
Start_Delay: ' five second delay
FOR temp = 1 TO 5
HIGH StartLED ' show active
PAUSE 900
INPUT StartLED ' blink each second
FREQOUT Speaker, 100, 2500, 3000 ' beep each second
NEXT
GOTO Lunge ' start aggressive!
' -----[ Program Code ]----------------------------------------------------
Main:
GOSUB Read_Line_Sensors
' If not on the Shikiri line (border), continue to look for opponent,
' otherwise, spin back toward center and resume search
BRANCH lineBits, [Search_For_Opponent, Spin_Left, Spin_Right, About_Face]
' --[ Border Avoidance ]--
Spin_Left: ' right sensor was active
FOR pulses = 1 TO 20
PULSOUT LMotor, LRevFast
PULSOUT RMotor, RFwdFast
PAUSE 20
NEXT
lastIr = ' clear scan direction
GOTO Lunge
Spin_Right: ' left sensor was active
FOR pulses = 1 TO 20
PULSOUT LMotor, LFwdFast
PULSOUT RMotor, RRevFast
PAUSE 20
NEXT
lastIr =
GOTO Lunge
About_Face: ' both sensors on Shikiri
FOR pulses = 1 TO 10 ' back up from edge
PULSOUT LMotor, LRevFast
PULSOUT RMotor, RRevFast
PAUSE 20
NEXT
FOR pulses = 1 TO 30 ' turn around
PULSOUT LMotor, LFwdFast
PULSOUT RMotor, RRevFast
PAUSE 20
NEXT
lastIr =
GOTO Lunge
' --[ IR Processing ]--
Search_For_Opponent:
GOSUB Read_IR_Sensors
' If opponent is not in view, scan last known direction. Turn toward
' opponent if seen by one "eye" -- if both, lunge forward
BRANCH irBits, [Scan, Follow_Right, Follow_Left, Lunge]
Scan:
BRANCH lastIR, [Move_Fwd, Scan_Right, Scan_Left]
Move_Fwd:
GOSUB Creep_Forward
GOTO Main
Scan_Right: ' spin right, slow
FOR pulses = 1 TO 5
PULSOUT LMotor, LFwdSlow
PULSOUT RMotor, RRevSlow
PAUSE 20
NEXT
GOSUB Creep_Forward ' keep moving
GOTO Main
Scan_Left: ' spin left, slow
FOR pulses = 1 TO 5
PULSOUT LMotor, LRevSlow
PULSOUT RMotor, RFwdSlow
PAUSE 20
NEXT
GOSUB Creep_Forward
GOTO Main
Follow_Right: ' spin right, fast
PULSOUT LMotor, LFwdFast
PULSOUT RMotor, RRevSlow
lastIR = irBits ' save last direction found
GOTO Main
Follow_Left: ' spin left, fast
PULSOUT LMotor, LRevSlow
PULSOUT RMotor, RFwdFast
lastIR = irBits
GOTO Main
Lunge: ' locked on -- go get him!
FOR pulses = 1 TO 25
PULSOUT LMotor, LFwdFast
PULSOUT RMotor, RFwdFast
GOSUB Read_Line_Sensors
IF (lineBits = ) THEN Match_Over ' in sight, we're on the line
NEXT
GOTO Main
' If SumoBot can see the opponent with both "eyes" and both QTIs are
' detecting the border, we must have pushed the opponent out.
Match_Over:
FOR pulses = 1 TO 10 ' stop motors
PULSOUT LMotor, LStop
PULSOUT RMotor, RStop
PAUSE 20
NEXT
INPUT LMotor
INPUT RMotor
FOR temp = 1 TO 10 ' make some noise
HIGH StartLED
FREQOUT Speaker, 100, 2500, 3000 ' beep
INPUT StartLED ' blink LED
PAUSE 100
NEXT
DIRS = $0000 ' disable all outputs
GOTO Reset ' reset for next round
' -----[ Subroutines ]-----------------------------------------------------
Read_Line_Sensors:
HIGH LLinePwr ' activate sensors
HIGH RLinePwr
HIGH LLineIn ' discharge caps
HIGH RLineIn
PAUSE 1
RCTIME LLineIn, 1, lLine ' read left sensor
RCTIME RLineIn, 1, rLine ' read right sensor
LOW LLinePwr ' deactivate sensors
LOW RLinePwr
' convert readings to bits
LOOKDOWN lLine, >=[1000, 0], lbLeft ' 0 = black, 1 = line
LOOKDOWN rLine, >=[1000, 0], lbRight
RETURN
Read_IR_Sensors:
FREQOUT LfIrOut, 1, 38500 ' modulate left IR LED
irLeft = ~LfIrIn ' read input (1 = target)
FREQOUT RtIrOut, 1, 38500 ' modulate right IR LED
irRight = ~RtIrIn ' read input (1 = target)
RETURN
Creep_Forward:
FOR pulses = 1 TO 20
PULSOUT LMotor, LFwdSlow
PULSOUT RMotor, RFwdSlow
PAUSE 20
NEXT
RETURN
Yeah I did but here is the thing it only works when i am holding it in the air and everytime it touches the black surface the red lights flashes and turns off it does that when i start it on the surface and when i place it on the black surface after it turns on
It sounds like the ring sensors may be falsely triggering resulting in the Sumo-Bot thinking the match is over. The surface may look black, but may still reflect IR light. This is especially a possibility if the black ring was printed from a photo printer or any device that uses, metallic ink.
If you replace the 1000 with blackThresh it should behave better, but I believe there are plenty of other adjustments to make.
Edited to add:
I don't have access to the robots right now, but looking through the code I see this:
' Sets black threshold to 1/4 the average of the two sensor readings.
' SumoBot must be placed over black playing surface before this code runs.
Set_Threshold: ' set QTI black threshold
GOSUB Read_Line_Sensors
blackThresh = (lLine / 10) + (rLine / 10)
The comment doesn't match the code. I think this threshold just needs to be tuned by each individual user.
Also some more things.
Reset:
...
GOTO Lunge ' start aggressive!
...
Lunge: ' locked on -- go get him!
FOR pulses = 1 TO 25
PULSOUT LMotor, LFwdFast
PULSOUT RMotor, RFwdFast
GOSUB Read_Line_Sensors
IF (lineBits = %11) THEN Match_Over ' in sight, we're on the line
If you start the robots such that the initial Lunge gets a robot right to the edge, it will halt thinking that it has won the match.
When debugging some of these things and suspecting bad sensors I noticed that FREQOUT for 38.5 kHz as in:
Read_IR_Sensors:
FREQOUT LfIrOut, 1, 38500
Generates a waveform with a ton of jitter. I guess it's just a limitation of the basic stamp, or of the particular model used on the sumobots. I didn't save a scope shot, but can capture one later.
Comments
I cause the other half of the problems.
' SumoBot-5.1-Basic-Competition-Program.BS2 ' {$STAMP BS2} ' {$PBASIC 2.5} ' -----[ I/O Definitions ]------------------------------------------------- LMotor PIN 13 ' left servo motor RMotor PIN 12 ' right servo motor LLinePwr PIN 10 ' left line sensor power LLineIn PIN 9 ' left line sensor input RLinePwr PIN 7 ' right line sensor power RLineIn PIN 8 ' right line sensor input LfIrOut PIN 4 ' left IR LED output LfIrIn PIN 11 ' left IR sensor input RtIrOut PIN 15 ' right IR LED output RtIrIn PIN 14 ' right IR sensor input Speaker PIN 1 ' piezo speaker StartLED PIN 0 ' display start delay ' -----[ Constants ]------------------------------------------------------- LFwdFast CON 1000 ' left motor fwd; fast LFwdSlow CON 800 ' left motor fwd; slow LStop CON 750 ' left motor stop LRevSlow CON 700 ' left motor rev; slow LRevFast CON 500 ' left motor rev; fast RFwdFast CON 500 ' right motor fwd; fast RFwdSlow CON 700 ' right motor fwd; slow RStop CON 750 ' right motor stop RRevSlow CON 800 ' right motor rev; slow RRevFast CON 1000 ' right motor rev; fast ' -----[ Variables ]------------------------------------------------------- lLine VAR Word ' left sensor raw reading rLine VAR Word ' right sensor raw reading blackThresh VAR Word ' QTI black threshold lineBits VAR Nib ' decoded sensors value lbLeft VAR lineBits.BIT1 lbRight VAR lineBits.BIT0 irBits VAR Nib ' IR readings (l & r) irLeft VAR irBits.BIT1 irRight VAR irBits.BIT0 lastIr VAR Nib ' info from last reading pulses VAR Byte ' counter for motor control temp VAR Byte ' -----[ EEPROM Data ]----------------------------------------------------- RunStatus DATA $00 ' run status ' -----[ Initialization ]-------------------------------------------------- Reset: READ RunStatus, temp ' read current status temp = ~temp ' invert status WRITE RunStatus, temp ' save for next reset IF (temp > 0) THEN END ' okay to run? ' Sets black threshold to 1/4 the average of the two sensor readings. ' SumoBot must be placed over black playing surface before this code runs. Set_Threshold: ' set QTI black threshold GOSUB Read_Line_Sensors blackThresh = (lLine / 10) + (rLine / 10) LOW LMotor ' make more pins outputs LOW RMotor Start_Delay: ' five second delay FOR temp = 1 TO 5 HIGH StartLED ' show active PAUSE 900 INPUT StartLED ' blink each second FREQOUT Speaker, 100, 2500, 3000 ' beep each second NEXT GOTO Lunge ' start aggressive! ' -----[ Program Code ]---------------------------------------------------- Main: GOSUB Read_Line_Sensors ' If not on the Shikiri line (border), continue to look for opponent, ' otherwise, spin back toward center and resume search BRANCH lineBits, [Search_For_Opponent, Spin_Left, Spin_Right, About_Face] ' --[ Border Avoidance ]-- Spin_Left: ' right sensor was active FOR pulses = 1 TO 20 PULSOUT LMotor, LRevFast PULSOUT RMotor, RFwdFast PAUSE 20 NEXT lastIr = ' clear scan direction GOTO Lunge Spin_Right: ' left sensor was active FOR pulses = 1 TO 20 PULSOUT LMotor, LFwdFast PULSOUT RMotor, RRevFast PAUSE 20 NEXT lastIr = GOTO Lunge About_Face: ' both sensors on Shikiri FOR pulses = 1 TO 10 ' back up from edge PULSOUT LMotor, LRevFast PULSOUT RMotor, RRevFast PAUSE 20 NEXT FOR pulses = 1 TO 30 ' turn around PULSOUT LMotor, LFwdFast PULSOUT RMotor, RRevFast PAUSE 20 NEXT lastIr = GOTO Lunge ' --[ IR Processing ]-- Search_For_Opponent: GOSUB Read_IR_Sensors ' If opponent is not in view, scan last known direction. Turn toward ' opponent if seen by one "eye" -- if both, lunge forward BRANCH irBits, [Scan, Follow_Right, Follow_Left, Lunge] Scan: BRANCH lastIR, [Move_Fwd, Scan_Right, Scan_Left] Move_Fwd: GOSUB Creep_Forward GOTO Main Scan_Right: ' spin right, slow FOR pulses = 1 TO 5 PULSOUT LMotor, LFwdSlow PULSOUT RMotor, RRevSlow PAUSE 20 NEXT GOSUB Creep_Forward ' keep moving GOTO Main Scan_Left: ' spin left, slow FOR pulses = 1 TO 5 PULSOUT LMotor, LRevSlow PULSOUT RMotor, RFwdSlow PAUSE 20 NEXT GOSUB Creep_Forward GOTO Main Follow_Right: ' spin right, fast PULSOUT LMotor, LFwdFast PULSOUT RMotor, RRevSlow lastIR = irBits ' save last direction found GOTO Main Follow_Left: ' spin left, fast PULSOUT LMotor, LRevSlow PULSOUT RMotor, RFwdFast lastIR = irBits GOTO Main Lunge: ' locked on -- go get him! FOR pulses = 1 TO 25 PULSOUT LMotor, LFwdFast PULSOUT RMotor, RFwdFast GOSUB Read_Line_Sensors IF (lineBits = ) THEN Match_Over ' in sight, we're on the line NEXT GOTO Main ' If SumoBot can see the opponent with both "eyes" and both QTIs are ' detecting the border, we must have pushed the opponent out. Match_Over: FOR pulses = 1 TO 10 ' stop motors PULSOUT LMotor, LStop PULSOUT RMotor, RStop PAUSE 20 NEXT INPUT LMotor INPUT RMotor FOR temp = 1 TO 10 ' make some noise HIGH StartLED FREQOUT Speaker, 100, 2500, 3000 ' beep INPUT StartLED ' blink LED PAUSE 100 NEXT DIRS = $0000 ' disable all outputs GOTO Reset ' reset for next round ' -----[ Subroutines ]----------------------------------------------------- Read_Line_Sensors: HIGH LLinePwr ' activate sensors HIGH RLinePwr HIGH LLineIn ' discharge caps HIGH RLineIn PAUSE 1 RCTIME LLineIn, 1, lLine ' read left sensor RCTIME RLineIn, 1, rLine ' read right sensor LOW LLinePwr ' deactivate sensors LOW RLinePwr ' convert readings to bits LOOKDOWN lLine, >=[1000, 0], lbLeft ' 0 = black, 1 = line LOOKDOWN rLine, >=[1000, 0], lbRight RETURN Read_IR_Sensors: FREQOUT LfIrOut, 1, 38500 ' modulate left IR LED irLeft = ~LfIrIn ' read input (1 = target) FREQOUT RtIrOut, 1, 38500 ' modulate right IR LED irRight = ~RtIrIn ' read input (1 = target) RETURN Creep_Forward: FOR pulses = 1 TO 20 PULSOUT LMotor, LFwdSlow PULSOUT RMotor, RFwdSlow PAUSE 20 NEXT RETURNDidja?
The code goes to the trouble of calculating blackThresh, but then uses a hardcoded 1000 threshold here:
If you replace the 1000 with blackThresh it should behave better, but I believe there are plenty of other adjustments to make.
Edited to add:
I don't have access to the robots right now, but looking through the code I see this:
The comment doesn't match the code. I think this threshold just needs to be tuned by each individual user.
Also some more things.
Reset: ... GOTO Lunge ' start aggressive! ... Lunge: ' locked on -- go get him! FOR pulses = 1 TO 25 PULSOUT LMotor, LFwdFast PULSOUT RMotor, RFwdFast GOSUB Read_Line_Sensors IF (lineBits = %11) THEN Match_Over ' in sight, we're on the lineIf you start the robots such that the initial Lunge gets a robot right to the edge, it will halt thinking that it has won the match.
When debugging some of these things and suspecting bad sensors I noticed that FREQOUT for 38.5 kHz as in:
Generates a waveform with a ton of jitter. I guess it's just a limitation of the basic stamp, or of the particular model used on the sumobots. I didn't save a scope shot, but can capture one later.