28125 Parallax Inc, 28125 Datasheet - Page 145

• 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

It will probably take several tries to get the right value. Let’s say that your first guess is
that
Bot is still turning slightly to the left.
overcorrects, and it turns out that
iterative process, meaning a process that takes repeated tries and refinements to get to the
right value.
You might find that there’s an entirely different situation when you program your Boe-
Bot to roll backward.
Tuning the Turns
Software adjustments can also be made to get the Boe-Bot to turn to a desired angle, such
as 90°. The amount of time the Boe-Bot spends rotating in place determines how far it
turns. Because the
EndValue
Here’s the left turn routine from ForwardLeftRightBackward.bs2.
PULSOUT 12,663
√
√
√
√
√
√
Modify BoeBotForwardTenSeconds.bs2 so that it makes your Boe-Bot go
straight forward.
Use masking tape or a sticker to label each servo with the best
If your Boe-Bot already travels straight forward, try the modifications just
discussed to see the effect. It should cause the Boe-Bot to travel in a curve
instead of a straight line.
Modify BoeBotForwardTenSeconds.bs2 so that it makes the Boe-Bot roll
backward for ten seconds.
Repeat the test for straight line.
Repeat the steps for correcting the
straighten the Boe-Bot’s backward travel.
FOR counter = 1 TO 24
If your Boe-Bot curved to the right instead of the left, it means you need to slow down
the left wheel by reducing the
Again, the closer this value gets to 750, the slower the servo will turn.
argument to get very close to the turning angle you want.
PULSOUT 13, 650
FOR…NEXT
will do the trick, but it turns out not to be enough because the Boe-
loop controls run time, you can adjust the
PULSOUT 12,665
Duration
PULSOUT
' Rotate left - about 1/4 turn
So try
of 850 in the
gets it exactly right. This is called an
command’s
PULSOUT 12,670.
PULSOUT 13,850
Duration
PULSOUT
FOR…NEXT
Maybe that
argument to
command.
values.
loop’s