quick help writing a real short program for a sharp 120 object detector

Comments

• metron9 Posts: 1,100

  2005-10-22 04:32 edited 2005-10-22 04:32

  Here ya go, When Wiska is triggered the servo moves back and forth , when it is not triggered it slowly moves back to a home position.
  
  

  'IR Proximity Dectector-Monitor Sharp GD2D120 Proximity Detector Output
  '{$STAMP BS2}
  ' {$PBASIC 2.5}
  ' IR Proximity Detector - Monitor Sharp GD2D120 Proximity Detector OUTPUT
  
  'Variables
  Whisker PIN 15
  Flag    VAR Bit
  position VAR Word
  direction VAR Byte  ' 0=home, 1=count up, 2= count down
  pHOME VAR Word      ' Home position of servo
  pMAX VAR Word       ' Maximum value of position
  pMIN VAR Word       ' Minimum value of position
  
  ' Initialization
  Flag=0
  phome=750
  pmax=1000
  pmin=500
  position=phome
  direction=0
  
  
  DO
  
   IF flag=1 THEN                             'Whisker is on
    IF direction=1 THEN
     position=position+10                      'Count up
     IF position>pmax THEN                     'Check boundrys
      position=pmax
      direction=2                              'Reverse direction
     ENDIF
    ENDIF
    IF direction=2 THEN
     position=position-10                      'Count Down
     IF position<pmin THEN                     'Check boundry
      position=pmin
      direction=1                              'Reverse direction
     ENDIF
    ENDIF
   ENDIF
  
   IF direction=0 THEN                             'If wisker is off
    IF position>phome THEN position=position-1     'Return slowly to home position
    IF position<phome THEN position=position+1
   ENDIF
  
   DEBUG DEC position , CR
   PULSOUT 14,position                              'Talk to servo
   PAUSE 20                                         'Alternet code if you use a clock could be here
                                                    'Sending a pulsout only every 20ms instead of waiting
                                                    'Would allow more processing to be done
  
   IF (Whisker = 0 ) AND (Flag = 0) THEN
    Flag = 1
    DEBUG "Ouch, collision",CR
    direction=1
   ELSE
  
    IF (Whisker = 1) THEN         ' When Whisker Released, Reset
     Flag = 0
     direction=0
    ENDIF
   ENDIF
  LOOP
  
  
• lobo Posts: 100

  2005-10-22 04:48 edited 2005-10-22 04:48

  Thank you very much God Bless