28125 Parallax Inc, 28125 Datasheet - Page 195

• 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

The
the
really important, because it means the Boe-Bot can check its whiskers between each
forward pulse. That means the Boe-Bot checks for obstacles roughly 40 times per second
as it travels forward.
Since each full speed forward pulse makes the Boe-Bot roll around half a centimeter, it’s
a really good idea to only send one pulse, then go back and check the whiskers again.
Since the
Forward_Pulse
then? The
Your Turn
The
can be adjusted for more or less turn, and the
adjusted to back up less for navigation in tighter spaces.
You can also modify your
previous activity broadcast what maneuver the Boe-Bot is in by adding
commands to control the LED circuits. Here is an example.
Forward_Pulse
√
Turn_Left
FOR
Forward_Pulse:
...
Experiment with the
routines in RoamingWithWhiskers.bs2.
IF (IN5
ELSEIF (IN5
IF…THEN
NEXT
PULSOUT 12,650
PULSOUT 13,850
PAUSE 20
RETURN
HIGH 10
HIGH 1
GOSUB Back_Up
GOSUB Turn_Left
GOSUB Turn_Left
HIGH 10
GOSUB Back_Up
IF…THEN
,
loop
, it gets to
Turn_Right
statement is inside a
= 0) AND (IN7 = 0) THEN
statement checks the whiskers all over again.
subroutine has a twist. It just sends one pulse, then returns. This is
EndValue
= 0) THEN
LOOP
IF…THEN
, and
FOR
, which sends the program back up to
arguments in the
...
Back_Up
NEXT
statements to make the LED indicators from the
DO…LOOP
loop
subroutines should look fairly familiar, but
Back_Up
EndValue
, each time the program returns from a
Back_Right
routine can have its
arguments in the navigation
and
Back_Left
DO
. What happens
HIGH
EndValue
and
routines
LOW