Jerky BOEbot
flashbot
Posts: 1
I'm using the Javelin stamp on the BOEbot and the project was partially successful, except for the fact that it doesn't move at any sort of consistent speed.· It moves for a quarter of a second, and is idle for a half a second. Please tell me what is wrong with my program.· I need the help.
My code is as follows
<code>
import stamp.core.*;
public class PathFinder {
//· CPU.pin5 = Right Whisker, CPU.pin7 = Left Whisker
//· CPU.pin12 = Right Wheel, CPU.pin13 = Left Wheel
· public static void main() {
··· while(true) {
····· if(!CPU.readPin(CPU.pin5)){
······· if(!CPU.readPin(CPU.pin7)) {
········· CPU.pulseOut(1400, CPU.pin12);
········· CPU.pulseOut(100, CPU.pin13);
········· CPU.delay(1400);
······· }
······· else {
········· CPU.pulseOut(1400, CPU.pin12);
········· CPU.pulseOut(1400, CPU.pin13);
········· CPU.delay(100);
······· }
····· }
····· else { if(!CPU.readPin(CPU.pin7)) {
······· CPU.pulseOut(100, CPU.pin12);
······· CPU.pulseOut(100, CPU.pin13);
······· CPU.delay(2700);
····· }
····· else {
······· CPU.pulseOut(100, CPU.pin12);
······· CPU.pulseOut(1400, CPU.pin13);
······· CPU.delay(1400);
····· }}
··· }
· }
}
</code>
My code is as follows
<code>
import stamp.core.*;
public class PathFinder {
//· CPU.pin5 = Right Whisker, CPU.pin7 = Left Whisker
//· CPU.pin12 = Right Wheel, CPU.pin13 = Left Wheel
· public static void main() {
··· while(true) {
····· if(!CPU.readPin(CPU.pin5)){
······· if(!CPU.readPin(CPU.pin7)) {
········· CPU.pulseOut(1400, CPU.pin12);
········· CPU.pulseOut(100, CPU.pin13);
········· CPU.delay(1400);
······· }
······· else {
········· CPU.pulseOut(1400, CPU.pin12);
········· CPU.pulseOut(1400, CPU.pin13);
········· CPU.delay(100);
······· }
····· }
····· else { if(!CPU.readPin(CPU.pin7)) {
······· CPU.pulseOut(100, CPU.pin12);
······· CPU.pulseOut(100, CPU.pin13);
······· CPU.delay(2700);
····· }
····· else {
······· CPU.pulseOut(100, CPU.pin12);
······· CPU.pulseOut(1400, CPU.pin13);
······· CPU.delay(1400);
····· }}
··· }
· }
}
</code>
Comments
static PWM right_wheel = new PWM(CPU.pin12,173,2304); static PWM left_wheel = new PWM(CPU.pin13,173,2304); while (true) { left_wheel.update(130,2304); right_wheel.update(220,2304); }The first argument of left_wheel.update(); changes the speed & direction, and just leave the second argument there.