28125 Parallax Inc, 28125 Datasheet - Page 143

• Manufacturer Part Number: 28125
• Description: TEXT ROBOTICS
• Manufacturer: Parallax Inc

Specifications of 28125

• Title: Robotics with the Boe-Bot
• Product: Microcontroller Accessories
• Lead Free Status / RoHS Status: Not applicable / Not applicable

These are the
Finally, these are the
ACTIVITY #2: TUNING THE BASIC MANEUVERS
Imagine writing a program that instructs the Boe-Bot to travel full-speed forward for
fifteen seconds. What if the Boe-Bot curves slightly to the left or right during its travel,
when it’s supposed to be traveling straight ahead? There’s no need to take the Boe-Bot
back apart and re-adjust the servos with a screwdriver to fix this. You can simply adjust
the program slightly to get both Boe-Bot wheels traveling the same speed. While the
screwdriver approach would be called a “hardware adjustment”, the programming
approach is called a “software adjustment”.
Straightening the Boe-Bot’s Path
The first step is to examine your Boe-Bot’s travel for long enough to find out if it’s
curving either to the left or to the right when it’s supposed to be going straight ahead.
Ten seconds of forward travel should be enough. This can be accomplished with a
simple modification to BoeBotForwardThreeSeconds.bs2 from the previous activity.
Example Program: BoeBotForwardTenSeconds.bs2
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Save ForwardLeftRightBackward.bs2 as PivotTests.bs2.
Substitute the
right, and backward routines.
Adjust the run time of each maneuver by changing each
EndValue
Be sure to change the comment next to each
pivot action.
Run the modified program and verify that the different pivot actions work.
Open BoeBotForwardThreeSeconds.bs2.
Rename and save it as BoeBotForwardTenSeconds.bs2.
PULSOUT 13, 850
PULSOUT 12, 750
PULSOUT 13, 650
PULSOUT 12, 750
PULSOUT 13, 750
PULSOUT 12, 850
PULSOUT
to 30.
PULSOUT
commands for pivoting backwards and to the right.
PULSOUT
commands for pivoting backwards and to the left.
commands just discussed in place of the forward, left,
FOR…NEXT
loop to reflect each new
FOR…NEXT
loop’s