28125 Parallax Inc, 28125 Datasheet - Page 298

• 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 next two lines of code implement the proportional control calculations for each
servo.
Now that the
subroutine can be called.
The
following the
Your Turn
Figure 8-6 shows a lead Boe-Bot followed by a shadow Boe-Bot. The lead Boe-Bot is
running a modified version of FastIrRoaming.bs2, and the shadow Boe-Bot is running
FollowingBoeBot.bs2. Proportional control makes the shadow Boe-Bot a very faithful
follower. One lead Boe-Bot can string along a chain of 6 or 7 shadow Boe-Bots. Just
add the lead Boe-Bot’s side panels and tailgate to the rest of the shadow Boe-Bots in the
chain.
LOOP
LOOP
portion of the
' Calculate proportional output.
pulseLeft =
pulseRight = SetPoint - distanceRight * Kpr + CenterPulse
GOSUB Send_Pulse
DO
pulseLeft
at the beginning of the main loop.
DO…LOOP
SetPoint - distanceLeft
and
pulseRight
sends the program back to the command immediately
calculations are done, the
* Kpl + CenterPulse
Send_Pulse