28125 Parallax Inc, 28125 Datasheet - Page 153

• 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

NEXT
' Continue forward for 75 pulses.
FOR pulseCount = 1 TO 75
NEXT
' Ramp down from going forward to a full stop.
FOR pulseCount = 100 TO 1
NEXT
END
Your Turn
You can also create routines to combine ramping up or down with the other maneuvers.
Here’s an example of how to ramp up to full speed going backward instead of forward.
The only difference between this routine and the forward ramping routine is that the
value of
it was added. Likewise,
command, where before it was subtracted.
You can also make a routine for ramping into a turn by adding the value of
to 750 in both
PULSOUT
a quarter turn with ramping. The servos don’t get an opportunity to get up to full speed
before they have to slow back down again.
PULSOUT 13, 850
PULSOUT 12, 650
PAUSE 20
PULSOUT 13, 750 + pulseCount
PULSOUT 12, 750 - pulseCount
PAUSE 20
' Ramp up to full speed going backwards
FOR pulseCount = 1 TO 100
NEXT
pulseCount
commands, you can ramp into a turn the other direction. Here’s an example of
PULSOUT 13, 750 - pulseCount
PULSOUT 12, 750 + pulseCount
PAUSE 20
PULSOUT
is subtracted from 750 in the
pulseCount
commands. By subtracting
is added to the value of 750 in the
' Stop until reset.
' Loop sends 75 forward pulses.
' 1.7 ms pulse to left servo.
' 1.3 ms pulse to right servo.
' Pause for 20 ms.
' Loop ramps down for 100 pulses.
' Pulse = 1.5 ms + pulseCount.
' Pulse = 1.5 ms - pulseCount.
' Pause for 20 ms.
PULSOUT 13
pulseCount
command, where before
from 750 in both
PULSOUT 12
pulseCount