28125 Parallax Inc, 28125 Datasheet - Page 296

• 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

' -----[ Title ]--------------------------------------------------------------
' Robotics with the Boe-Bot - FollowingBoeBot.bs2
' Boe-Bot adjusts its position to keep objects it detects in zone 2.
' {$STAMP BS2}
' {$PBASIC 2.5}
DEBUG "Program Running!"
' -----[ Constants ]----------------------------------------------------------
Kpl
Kpr
SetPoint
CenterPulse
' -----[ Variables ]----------------------------------------------------------
freqSelect
irFrequency
irDetectLeft
irDetectRight
distanceLeft
distanceRight
pulseLeft
pulseRight
' -----[ Initialization ]-----------------------------------------------------
FREQOUT 4, 2000, 3000
' -----[ Main Routine ]-------------------------------------------------------
DO
LOOP
' -----[ Subroutine - Get IR Distances ]--------------------------------------
GOSUB Get_Ir_Distances
' Calculate proportional output.
pulseLeft =
pulseRight = SetPoint - distanceRight * Kpr + CenterPulse
GOSUB Send_Pulse
√
Move the sheet of paper too close to the Boe-Bot, and it should back up, away
from the paper.
CON
CON
CON
CON
VAR
VAR
VAR
VAR
VAR
VAR
VAR
VAR
SetPoint - distanceLeft
-35
35
2
750
Nib
Word
Bit
Bit
Nib
Nib
Word
Word
* Kpl + CenterPulse
' Stamp directive.
' PBASIC directive.