Programming issues with fourth Servo using PING & IR Sensors
Joe_bot67
Posts: 5
·I have·an ultrasonic sensor "PING," an IR sensor and four Servos installed.··
· am having difficulties programming this fourth Servo running on P11.
·My (BS2 Rev. C) Boebot ·has the jumper set to VDD.· I am running my left & right servo wheels on Pin 12 & 13, my PING sensor & PING Servo is on Pin 14 & 15.·
·Everything in the code (downloaded from Parallax)·will operate The Ping Sensors, ·Ping Servo, Wheels/Servos and IR sensors.· Where I'm having an issue, is with the added Servo needed to control a special feature attachment.· I have tested this servo using the center Servo coding and tested it with a basic Pulseout program.· Both worked fine.·
·I guess my question is, does anyone know how to adjust the coding for the RoamingwithPing-V1.0.bs2 program so that it can run this fourth servo at the same time the PING Servo actuates?· I only need this fourth servo to go up and down about 45 degrees.
Your help will be greatly appreciated.
Feel free to make the adjustments to the following code:
'·· {$STAMP BS2}
'·· {$PBASIC 2.5}
'
' =========================================================================
'
[noparse][[/noparse] Program Description ]
' This programs demonstrates roaming with the Parallax PING))) Mounting
' Bracket, which allows you to pan-scan with your Parallax PING))) sensor.
'
' This program assumes you have already set your BOE-Bot up for roaming
' with IR sensors.· You must also have the PING))) Mounting bracket
' installed as per the instructions, with the servo connected to P14 and
' the PING))) sensor connected to P15.
'
' Due to the way the PING))) bracket mounts you may have to trim your IR
' detectors down so that they don't stick up in the way of the moving
' PING))) bracket as it rotates.· It's best to angle them off at 45
' degree angles so that the BOE-Bot doesn't run into anything while
' moving along a wall at a narrow angle.
'
' The BOE-Bot will now roam around and when it senses an object, it will
' scan within a 180 degree field of view for the clearest path, which it
' will then navigate scanning for an object again.· The IR Sensors prevent
' hitting a wall when coming at it from a narrow angle where the PING)))
' might have trouble seeing it due to the lack of reflection of sound.
'
' Calibration is important to this code working properly.· If you do not
' have the correct values for your servos then you may get strange results
' from your BOE-Bot.· The necessary calibration information is listed in
' each section of the code where it is required.
'
[noparse][[/noparse] Revision History ]
' This code is basically a modified version of the Roaming With IR code
' from the Robotics With The BOE-Bot Manual, written by Andy Lindsay.
' Much of the original code was left untouched so you can see how it was
' altered.
'
[noparse][[/noparse] I/O Definitions ]
Piezo·········· PIN···· 4·············· ' Piezo Speaker
RightServo····· PIN···· 12············· ' Right Servo
LeftServo······ PIN···· 13············· ' Left Servo
PingServo······ PIN···· 14············· ' PING))) Servo
Ping··········· PIN···· 15············· ' PING))) Sensor
'
[noparse][[/noparse] Variables ]
irDetectLeft··· VAR···· Bit············ ' Variable For Left IR Input
irDetectRight·· VAR···· Bit············ ' Variable For Right IR Input
pulseCount····· VAR···· Byte··········· ' Used For Measuring Turns
distance······· VAR···· Word··········· ' Current Distance Of Object
oldDistance···· VAR···· Word··········· ' Old Distance Value
counter········ VAR···· Word··········· ' PING))) Cycle Counter
task··········· VAR···· Nib············ ' Current Task
'
[noparse][[/noparse] Initialization ]
FREQOUT Piezo, 2000, 3000·············· ' Signal Program Start/Reset
'
[noparse][[/noparse] Program Code ]
Main:
DO
· FREQOUT 8, 1, 38500·················· ' Emit 38.5 kHz IR To Left
· irDetectLeft = IN9··················· ' Store IR Detection Values
· FREQOUT 2, 1, 38500·················· ' Emit 38.5 kHz IR To Right
· irDetectRight = IN0·················· ' Store IR Detection Values
· IF (irDetectLeft = 0) AND (irDetectRight = 0) THEN
··· GOSUB Ping_Around·················· ' Object Detected via IR Forward
· ELSEIF (irDetectLeft = 0) THEN
··· GOSUB Ping_Around·················· ' Object Detected via IR Left
· ELSEIF (irDetectRight = 0) THEN
··· GOSUB Ping_Around·················· ' Object Detected via IR Right
· ENDIF
· counter = counter + 1················ ' Increment Passive Counter
· IF counter > 10 THEN················· ' Wait For 10 Servo Pulses
··· GOSUB Ping_Out····················· ' Activate PING)))
· ENDIF
· IF (distance > 30) THEN·············· ' Is Object Farther Than 30 cm?
··· GOSUB Forward_Pulse················ ' If Yes Go Forward
· ELSE
··· GOSUB Ping_Around·················· ' Otherwise Scan For Clear Path
· ENDIF
LOOP
'
[noparse][[/noparse] Subroutines ]
' *************************************************************************
' * USE THE APPROPRIATE PULSOUT VALUES TO MAKE YOUR BOE-BOT MOVE FORWARD· *
' * WHILE THE PING))) IS FACING FORWARD.································· *
' *************************************************************************
Forward_Pulse:························· ' Send A Single Forward Pulse
· PULSOUT PingServo, 750··············· ' Ping Servo Forward Pulse Value
· PULSOUT LeftServo, 850··············· ' Left Servo Forward Pulse Value
· PULSOUT RightServo, 650·············· ' Right Servo Forward Pulse Value
· PAUSE 20····························· ' Refresh Delay
· RETURN
' *************************************************************************
' * USE THE APPROPRIATE PULSOUT VALUES TO MAKE YOUR BOE-BOT TURN LEFT 90· *
' * DEGREES.· USE THE SAME VALUE AS ABOVE FOR THE PING))) BRACKET SERVO.· *
' *************************************************************************
Turn_Left:····························· ' Left Turn, About 45 Degrees
· FOR pulseCount = 0 TO 7·············· ' Number Of Pulses To Turn
··· PULSOUT PingServo, 750············· ' Ping Servo Forward Pulse Value
··· PULSOUT LeftServo, 650············· ' Left Servo Left Pulse Value
··· PULSOUT RightServo, 650············ ' Right Servo Left Pulse Value
··· PAUSE 20··························· ' Refresh Delay
· NEXT
· RETURN
' *************************************************************************
' * USE THE APPROPRIATE PULSOUT VALUES TO MAKE YOUR BOE-BOT TURN RIGHT 90 *
' * DEGREES.· USE THE SAME VALUE AS ABOVE FOR THE PING))) BRACKET SERVO.· *
' *************************************************************************
Turn_Right:···························· ' Right Turn, About 45 Degrees
· FOR pulseCount = 0 TO 7·············· ' Number Of Pulses To Turn
··· PULSOUT PingServo, 750············· ' Ping Servo Forward Pulse Value
··· PULSOUT LeftServo, 850············· ' Left Servo Right Pulse Value
··· PULSOUT RightServo, 850············ ' Right Servo Right Pulse Value
··· PAUSE 20··························· ' Refresh Delay
· NEXT
· RETURN
' *************************************************************************
' * USE THE APPROPRIATE PULSOUT VALUES TO MAKE YOUR BOE-BOT MOVE BACKWARD *
' * WHILE THE PING))) IS FACING FORWARD.································· *
' *************************************************************************
Back_Up:······························· ' Back Up
· FOR pulseCount = 0 TO 40············· ' Number Of Pulses To Backup
··· PULSOUT PingServo, 750············· ' Ping Servo Forward Pulse Value
··· PULSOUT LeftServo, 650············· ' Left Servo Backup Pulse Value
··· PULSOUT RightServo, 850············ ' Right Servo Backup Pulse Value
··· PAUSE 20··························· ' Refresh Delay
· NEXT
· RETURN
Ping_Out:······························ ' PING)))
· counter = 0·························· ' Reset Passive Delay Counter
· LOW Ping····························· ' Force PING))) Line Low
· PULSOUT Ping, 5······················ ' Activate PING))) Pulse
· PULSIN· Ping, 1, distance············ ' Receive Return Pulse
· distance = distance ** 2257·········· ' Calculate Distance
· RETURN
Ping_Around:··························· ' Start 180 Degree Pan-Scan
· counter = 0·························· ' Reset Passive Delay Counter
· oldDistance = 30····················· ' Current Old Distance Values
· task = 0····························· ' Current Task Priority
' *************************************************************************
' * USE THE APPROPRIATE PULSOUT VALUE TO MAKE YOUR PING)))··············· *
' * TURN 90 DEGREES LEFT.················································ *
' *************************************************************************
· FOR pulseCount = 0 TO 20············· ' Number Of Pulses To Spin
··· LOW Ping··························· ' Force PING))) Line Low
··· PULSOUT PingServo, 1085············ ' Ping Servo 90 Left Pulse Value
··· PULSOUT Ping, 5···················· ' Activate PING)))
··· PULSIN· Ping, 1, distance·········· ' Receive Distance Value
··· PAUSE 20··························· ' Refresh Delay
· NEXT
· distance = distance ** 2257·········· ' Calculate Distance In cm
· IF distance > oldDistance THEN······· ' Is distance > Last Clear Path
··· oldDistance = distance············· ' Update oldDistance Value
··· task = 1
· ENDIF
' *************************************************************************
' * USE THE APPROPRIATE PULSOUT VALUE TO MAKE YOUR PING)))··············· *
' * TURN 45 DEGREES LEFT.················································ *
' *************************************************************************
· FOR pulseCount = 0 TO 20············· ' Number Of Pulses To Spin
··· LOW Ping··························· ' Force PING))) Line Low
··· PULSOUT PingServo, 850············· ' Ping Servo 45 Left Pulse Value
··· PULSOUT Ping, 5···················· ' Activate PING)))
··· PULSIN· Ping, 1, distance·········· ' Receive Distance Value
··· PAUSE 20··························· ' Refresh Delay
· NEXT
· distance = distance ** 2257·········· ' Calculate Distance In cm
· IF distance > oldDistance THEN······· ' Is distance > Last Clear Path
··· oldDistance = distance············· ' Update oldDistance Value
··· task = 2
· ENDIF
' *************************************************************************
' * USE THE APPROPRIATE PULSOUT VALUE TO MAKE YOUR PING)))··············· *
' * TURN 45 DEGREES RIGHT.··············································· *
' *************************************************************************
· FOR pulseCount = 0 TO 20············· ' Number Of Pulses To Spin
··· LOW Ping··························· ' Force PING))) Line Low
··· PULSOUT PingServo, 400············· ' Ping Servo 45 Right Pulse Value
··· PULSOUT Ping, 5···················· ' Activate PING)))
··· PULSIN· Ping, 1, distance·········· ' Receive Distance Value
··· PAUSE 20··························· ' Refresh Delay
· NEXT
· distance = distance ** 2257·········· ' Calculate Distance In cm
· IF distance > oldDistance THEN······· ' Is distance > Last Clear Path
··· oldDistance = distance············· ' Update oldDistance Value
··· task = 3
· ENDIF
' *************************************************************************
' * USE THE APPROPRIATE PULSOUT VALUE TO MAKE YOUR PING)))··············· *
' * TURN 90 DEGREES RIGHT.··············································· *
' *************************************************************************
· FOR pulseCount = 0 TO 20············· ' Number Of Pulses To Spin
··· LOW Ping··························· ' Force PING))) Line Low
··· PULSOUT PingServo, 225············· ' Ping Servo 90 Right Pulse Value
··· PULSOUT Ping, 5···················· ' Activate PING)))
··· PULSIN· Ping, 1, distance·········· ' Receive Distance Value
··· PAUSE 20··························· ' Refresh Delay
· NEXT
· distance = distance ** 2257·········· ' Calculate Distance In cm
· IF distance > oldDistance THEN······· ' Is distance > Last Clear Path
··· oldDistance = distance············· ' Update oldDistance Value
··· task = 4
· ENDIF
· ON task GOSUB Task0, Task1, Task2, Task3, Task4
· distance = 50························ ' Prevent Scan From Looping
· RETURN
Task0:································· ' Forward Was Clearest Path
· GOSUB Turn_Right····················· ' This Could Mean Narrow Path
· GOSUB Turn_Right····················· ' So We'll Turn Around
· GOSUB Turn_Right····················· ' You Can Change The Behavior
· GOSUB Turn_Right····················· ' Of Any Of The Tasks
· RETURN
Task1:································· ' 90 Degrees Left Was Clearest
· GOSUB Turn_Left
· GOSUB Turn_Left
· RETURN
Task2:································· ' 45 Degrees Left Was Clearest
· GOSUB Turn_Left
· RETURN
Task3:································· ' 45 Degrees Right Was Clearest
· GOSUB Turn_Right
· RETURN
Task4:································· ' 90 Degrees Right Was Clearest
· GOSUB Turn_Right
· GOSUB Turn_Right
· RETURN
Post Edited (Joe_bot67) : 12/29/2009 6:33:09 AM GMT
· am having difficulties programming this fourth Servo running on P11.·My (BS2 Rev. C) Boebot ·has the jumper set to VDD.· I am running my left & right servo wheels on Pin 12 & 13, my PING sensor & PING Servo is on Pin 14 & 15.·
·Everything in the code (downloaded from Parallax)·will operate The Ping Sensors, ·Ping Servo, Wheels/Servos and IR sensors.· Where I'm having an issue, is with the added Servo needed to control a special feature attachment.· I have tested this servo using the center Servo coding and tested it with a basic Pulseout program.· Both worked fine.·
·I guess my question is, does anyone know how to adjust the coding for the RoamingwithPing-V1.0.bs2 program so that it can run this fourth servo at the same time the PING Servo actuates?· I only need this fourth servo to go up and down about 45 degrees.
Your help will be greatly appreciated.
Feel free to make the adjustments to the following code:
'·· {$STAMP BS2}
'·· {$PBASIC 2.5}
'
' =========================================================================
'
[noparse][[/noparse] Program Description ]
' This programs demonstrates roaming with the Parallax PING))) Mounting
' Bracket, which allows you to pan-scan with your Parallax PING))) sensor.
'
' This program assumes you have already set your BOE-Bot up for roaming
' with IR sensors.· You must also have the PING))) Mounting bracket
' installed as per the instructions, with the servo connected to P14 and
' the PING))) sensor connected to P15.
'
' Due to the way the PING))) bracket mounts you may have to trim your IR
' detectors down so that they don't stick up in the way of the moving
' PING))) bracket as it rotates.· It's best to angle them off at 45
' degree angles so that the BOE-Bot doesn't run into anything while
' moving along a wall at a narrow angle.
'
' The BOE-Bot will now roam around and when it senses an object, it will
' scan within a 180 degree field of view for the clearest path, which it
' will then navigate scanning for an object again.· The IR Sensors prevent
' hitting a wall when coming at it from a narrow angle where the PING)))
' might have trouble seeing it due to the lack of reflection of sound.
'
' Calibration is important to this code working properly.· If you do not
' have the correct values for your servos then you may get strange results
' from your BOE-Bot.· The necessary calibration information is listed in
' each section of the code where it is required.
'
[noparse][[/noparse] Revision History ]
' This code is basically a modified version of the Roaming With IR code
' from the Robotics With The BOE-Bot Manual, written by Andy Lindsay.
' Much of the original code was left untouched so you can see how it was
' altered.
'
[noparse][[/noparse] I/O Definitions ]
Piezo·········· PIN···· 4·············· ' Piezo Speaker
RightServo····· PIN···· 12············· ' Right Servo
LeftServo······ PIN···· 13············· ' Left Servo
PingServo······ PIN···· 14············· ' PING))) Servo
Ping··········· PIN···· 15············· ' PING))) Sensor
'
[noparse][[/noparse] Variables ]
irDetectLeft··· VAR···· Bit············ ' Variable For Left IR Input
irDetectRight·· VAR···· Bit············ ' Variable For Right IR Input
pulseCount····· VAR···· Byte··········· ' Used For Measuring Turns
distance······· VAR···· Word··········· ' Current Distance Of Object
oldDistance···· VAR···· Word··········· ' Old Distance Value
counter········ VAR···· Word··········· ' PING))) Cycle Counter
task··········· VAR···· Nib············ ' Current Task
'
[noparse][[/noparse] Initialization ]
FREQOUT Piezo, 2000, 3000·············· ' Signal Program Start/Reset
'
[noparse][[/noparse] Program Code ]
Main:
DO
· FREQOUT 8, 1, 38500·················· ' Emit 38.5 kHz IR To Left
· irDetectLeft = IN9··················· ' Store IR Detection Values
· FREQOUT 2, 1, 38500·················· ' Emit 38.5 kHz IR To Right
· irDetectRight = IN0·················· ' Store IR Detection Values
· IF (irDetectLeft = 0) AND (irDetectRight = 0) THEN
··· GOSUB Ping_Around·················· ' Object Detected via IR Forward
· ELSEIF (irDetectLeft = 0) THEN
··· GOSUB Ping_Around·················· ' Object Detected via IR Left
· ELSEIF (irDetectRight = 0) THEN
··· GOSUB Ping_Around·················· ' Object Detected via IR Right
· ENDIF
· counter = counter + 1················ ' Increment Passive Counter
· IF counter > 10 THEN················· ' Wait For 10 Servo Pulses
··· GOSUB Ping_Out····················· ' Activate PING)))
· ENDIF
· IF (distance > 30) THEN·············· ' Is Object Farther Than 30 cm?
··· GOSUB Forward_Pulse················ ' If Yes Go Forward
· ELSE
··· GOSUB Ping_Around·················· ' Otherwise Scan For Clear Path
· ENDIF
LOOP
'
[noparse][[/noparse] Subroutines ]
' *************************************************************************
' * USE THE APPROPRIATE PULSOUT VALUES TO MAKE YOUR BOE-BOT MOVE FORWARD· *
' * WHILE THE PING))) IS FACING FORWARD.································· *
' *************************************************************************
Forward_Pulse:························· ' Send A Single Forward Pulse
· PULSOUT PingServo, 750··············· ' Ping Servo Forward Pulse Value
· PULSOUT LeftServo, 850··············· ' Left Servo Forward Pulse Value
· PULSOUT RightServo, 650·············· ' Right Servo Forward Pulse Value
· PAUSE 20····························· ' Refresh Delay
· RETURN
' *************************************************************************
' * USE THE APPROPRIATE PULSOUT VALUES TO MAKE YOUR BOE-BOT TURN LEFT 90· *
' * DEGREES.· USE THE SAME VALUE AS ABOVE FOR THE PING))) BRACKET SERVO.· *
' *************************************************************************
Turn_Left:····························· ' Left Turn, About 45 Degrees
· FOR pulseCount = 0 TO 7·············· ' Number Of Pulses To Turn
··· PULSOUT PingServo, 750············· ' Ping Servo Forward Pulse Value
··· PULSOUT LeftServo, 650············· ' Left Servo Left Pulse Value
··· PULSOUT RightServo, 650············ ' Right Servo Left Pulse Value
··· PAUSE 20··························· ' Refresh Delay
· NEXT
· RETURN
' *************************************************************************
' * USE THE APPROPRIATE PULSOUT VALUES TO MAKE YOUR BOE-BOT TURN RIGHT 90 *
' * DEGREES.· USE THE SAME VALUE AS ABOVE FOR THE PING))) BRACKET SERVO.· *
' *************************************************************************
Turn_Right:···························· ' Right Turn, About 45 Degrees
· FOR pulseCount = 0 TO 7·············· ' Number Of Pulses To Turn
··· PULSOUT PingServo, 750············· ' Ping Servo Forward Pulse Value
··· PULSOUT LeftServo, 850············· ' Left Servo Right Pulse Value
··· PULSOUT RightServo, 850············ ' Right Servo Right Pulse Value
··· PAUSE 20··························· ' Refresh Delay
· NEXT
· RETURN
' *************************************************************************
' * USE THE APPROPRIATE PULSOUT VALUES TO MAKE YOUR BOE-BOT MOVE BACKWARD *
' * WHILE THE PING))) IS FACING FORWARD.································· *
' *************************************************************************
Back_Up:······························· ' Back Up
· FOR pulseCount = 0 TO 40············· ' Number Of Pulses To Backup
··· PULSOUT PingServo, 750············· ' Ping Servo Forward Pulse Value
··· PULSOUT LeftServo, 650············· ' Left Servo Backup Pulse Value
··· PULSOUT RightServo, 850············ ' Right Servo Backup Pulse Value
··· PAUSE 20··························· ' Refresh Delay
· NEXT
· RETURN
Ping_Out:······························ ' PING)))
· counter = 0·························· ' Reset Passive Delay Counter
· LOW Ping····························· ' Force PING))) Line Low
· PULSOUT Ping, 5······················ ' Activate PING))) Pulse
· PULSIN· Ping, 1, distance············ ' Receive Return Pulse
· distance = distance ** 2257·········· ' Calculate Distance
· RETURN
Ping_Around:··························· ' Start 180 Degree Pan-Scan
· counter = 0·························· ' Reset Passive Delay Counter
· oldDistance = 30····················· ' Current Old Distance Values
· task = 0····························· ' Current Task Priority
' *************************************************************************
' * USE THE APPROPRIATE PULSOUT VALUE TO MAKE YOUR PING)))··············· *
' * TURN 90 DEGREES LEFT.················································ *
' *************************************************************************
· FOR pulseCount = 0 TO 20············· ' Number Of Pulses To Spin
··· LOW Ping··························· ' Force PING))) Line Low
··· PULSOUT PingServo, 1085············ ' Ping Servo 90 Left Pulse Value
··· PULSOUT Ping, 5···················· ' Activate PING)))
··· PULSIN· Ping, 1, distance·········· ' Receive Distance Value
··· PAUSE 20··························· ' Refresh Delay
· NEXT
· distance = distance ** 2257·········· ' Calculate Distance In cm
· IF distance > oldDistance THEN······· ' Is distance > Last Clear Path
··· oldDistance = distance············· ' Update oldDistance Value
··· task = 1
· ENDIF
' *************************************************************************
' * USE THE APPROPRIATE PULSOUT VALUE TO MAKE YOUR PING)))··············· *
' * TURN 45 DEGREES LEFT.················································ *
' *************************************************************************
· FOR pulseCount = 0 TO 20············· ' Number Of Pulses To Spin
··· LOW Ping··························· ' Force PING))) Line Low
··· PULSOUT PingServo, 850············· ' Ping Servo 45 Left Pulse Value
··· PULSOUT Ping, 5···················· ' Activate PING)))
··· PULSIN· Ping, 1, distance·········· ' Receive Distance Value
··· PAUSE 20··························· ' Refresh Delay
· NEXT
· distance = distance ** 2257·········· ' Calculate Distance In cm
· IF distance > oldDistance THEN······· ' Is distance > Last Clear Path
··· oldDistance = distance············· ' Update oldDistance Value
··· task = 2
· ENDIF
' *************************************************************************
' * USE THE APPROPRIATE PULSOUT VALUE TO MAKE YOUR PING)))··············· *
' * TURN 45 DEGREES RIGHT.··············································· *
' *************************************************************************
· FOR pulseCount = 0 TO 20············· ' Number Of Pulses To Spin
··· LOW Ping··························· ' Force PING))) Line Low
··· PULSOUT PingServo, 400············· ' Ping Servo 45 Right Pulse Value
··· PULSOUT Ping, 5···················· ' Activate PING)))
··· PULSIN· Ping, 1, distance·········· ' Receive Distance Value
··· PAUSE 20··························· ' Refresh Delay
· NEXT
· distance = distance ** 2257·········· ' Calculate Distance In cm
· IF distance > oldDistance THEN······· ' Is distance > Last Clear Path
··· oldDistance = distance············· ' Update oldDistance Value
··· task = 3
· ENDIF
' *************************************************************************
' * USE THE APPROPRIATE PULSOUT VALUE TO MAKE YOUR PING)))··············· *
' * TURN 90 DEGREES RIGHT.··············································· *
' *************************************************************************
· FOR pulseCount = 0 TO 20············· ' Number Of Pulses To Spin
··· LOW Ping··························· ' Force PING))) Line Low
··· PULSOUT PingServo, 225············· ' Ping Servo 90 Right Pulse Value
··· PULSOUT Ping, 5···················· ' Activate PING)))
··· PULSIN· Ping, 1, distance·········· ' Receive Distance Value
··· PAUSE 20··························· ' Refresh Delay
· NEXT
· distance = distance ** 2257·········· ' Calculate Distance In cm
· IF distance > oldDistance THEN······· ' Is distance > Last Clear Path
··· oldDistance = distance············· ' Update oldDistance Value
··· task = 4
· ENDIF
· ON task GOSUB Task0, Task1, Task2, Task3, Task4
· distance = 50························ ' Prevent Scan From Looping
· RETURN
Task0:································· ' Forward Was Clearest Path
· GOSUB Turn_Right····················· ' This Could Mean Narrow Path
· GOSUB Turn_Right····················· ' So We'll Turn Around
· GOSUB Turn_Right····················· ' You Can Change The Behavior
· GOSUB Turn_Right····················· ' Of Any Of The Tasks
· RETURN
Task1:································· ' 90 Degrees Left Was Clearest
· GOSUB Turn_Left
· GOSUB Turn_Left
· RETURN
Task2:································· ' 45 Degrees Left Was Clearest
· GOSUB Turn_Left
· RETURN
Task3:································· ' 45 Degrees Right Was Clearest
· GOSUB Turn_Right
· RETURN
Task4:································· ' 90 Degrees Right Was Clearest
· GOSUB Turn_Right
· GOSUB Turn_Right
· RETURN
Post Edited (Joe_bot67) : 12/29/2009 6:33:09 AM GMT
Comments
First of all, you need to define what you want this 4th servo to do and under what circumstances. A 4th servo is no different from any of the other servos. If you've already gotten the servo to work, you should be able to add it to this program if its interaction with the other feature isn't too complex.
The PULSOUT program I used to test run the 4th servo was ran seperately and does not correlate with the Roaming with Ping program mentioned before. In other words I tried to incorporate this PULSOUT code in the Roaming with PING program but it would not work in the places I tried.
The way forums work best is when people ask specific questions and supply a lot of information about what they've tried and what happened when they tried it. Also, if you do post more program source code, please post it as an attachment to a message. Use the "Post Reply" button and the Attachment Manager to upload your source file. If you just need to show a few lines of code, posting it in your message is fine. There are tags for including code that preserve most spacing: [noparse][[/noparse] code ] and [noparse][[/noparse] /code ] without the extra spaces inside the brackets.
When I stated that it didnt work, I meant that it did not work the way I wanted it to. It was erratic up and down movements.
I used the following to try to run the PULSOUT for the 4th servo: (This is the only modifications I made to this downloaded program)
'
[noparse][[/noparse] I/O Definitions ]
Piezo PIN 4 ' Piezo Speaker
EyeBrowServo PIN 11 ' Eyebrow Servo
RightServo PIN 12 ' Right Servo
LeftServo PIN 13 ' Left Servo
PingServo PIN 14 ' PING))) Servo
Ping PIN 15 ' PING))) Sensor
Turn_Left: ' Left Turn, About 45 Degrees
FOR pulseCount = 0 TO 7 ' Number Of Pulses To Turn
PULSOUT PingServo, 750 ' Ping Servo Forward Pulse Value
PULSOUT EyeBrowServo, 850 ' Eyebrow Servo Lift
PULSOUT EyeBrowServo, 650 ' Eyebrow Servo Down
PULSOUT LeftServo, 650 ' Left Servo Left Pulse Value
PULSOUT RightServo, 650 ' Right Servo Left Pulse Value
PAUSE 20 ' Refresh Delay
NEXT
RETURN
' *************************************************************************
' * USE THE APPROPRIATE PULSOUT VALUES TO MAKE YOUR BOE-BOT TURN RIGHT 90 *
' * DEGREES. USE THE SAME VALUE AS ABOVE FOR THE PING))) BRACKET SERVO. *
' *************************************************************************
Turn_Right: ' Right Turn, About 45 Degrees
FOR pulseCount = 0 TO 7 ' Number Of Pulses To Turn
PULSOUT PingServo, 750 ' Ping Servo Forward Pulse Value
PULSOUT EyeBrowServo, 850 ' Eyebrow Servo Lift
PULSOUT EyeBrowServo, 650 ' Eyebrow Servo Down
PULSOUT LeftServo, 850 ' Left Servo Right Pulse Value
PULSOUT RightServo, 850 ' Right Servo Right Pulse Value
PAUSE 20 ' Refresh Delay
NEXT
RETURN
Anyway, Thanks for the information & your time Mr. Green. I will try to incorporate the Subroutine you mentioned.
If there are any more suggestions, they will be greatly appreciated.
Depending on the behavior you need from the servo, you could either combine the "eyebrow" movement with the other movements or do the "eyebrow" movement first, then the "Turn_Left" or "Turn_Right" GOSUB.
One possibility is to do this
IF pulseCount < 4 THEN
PULSOUT EyeBrowServo,850
ELSE
PULSOUT EyeBrowServo,650
ENDIF
instead of the two PULSOUT statements by themselves. As the BoeBot is turning, it would first lift the eyebrow, then drop it.