28125 Parallax Inc, 28125 Datasheet - Page 272

• 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

A second feature of a program for turning away from drop-offs is adjustable distance.
You may want your Boe-Bot to only take one pulse forward between checking the
detectors, but as soon as a drop-off is detected, you may want your Boe-Bot to take
several pulses worth of turn before checking the detectors again.
Just because you are taking multiple pulses in an evasive maneuver, it doesn’t mean you
have to return to whiskers-style navigation. Instead, you can add a
that you can use to set to the number of pulses to deliver for a maneuver. The
command can be placed inside a
pulses. For one pulse forward,
can be set to 10, and so on.
Example Program – AvoidTableEdge.bs2
' Robotics with the Boe-Bot - AvoidTableEdge.bs2
' IR detects object edge and navigates to avoid drop-off.
' {$STAMP BS2}
' {$PBASIC 2.5}
DEBUG "Program Running!"
irDetectLeft
irDetectRight
pulseLeft
pulseRight
loopCount
pulseCount
√
√
√
√
√
Open FastIrNavigation.bs2 and save it as AvoidTableEdge.bs2.
Modify the program so that it matches the example program. This will involve
adding variables, modifying the
commands inside a
pulseLeft
properly adjusted.
FastIrNavigation.bs2 because the rules of the course are different.
Reconnect your board and servos.
Test the program on your electrical tape delimited course.
If you decide to try a tabletop, remember to follow the testing and spotting tips
discussed earlier.
VAR
VAR
VAR
VAR
VAR
VAR
and
pulseRight
Bit
Bit
Word
Word
Byte
Byte
FOR…NEXT
pulseCount
Their values are different from the ones in
FOR…NEXT
variable values inside the
IF…THEN
loop.
loop that executes
can be 1, for ten pulses left,
Be careful to make sure that all the
' Variable declarations.
statements, and nesting the
FOR 1 TO pulseCount
IF…THEN
pulseCount
statement are
pulseCount
PULSOUT
PULSOUT
variable