28125 Parallax Inc, 28125 Datasheet - Page 304

• 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

for the pair that is now over the electrical tape should increase to 4 or 5. Keep in mind
that if you move the Boe-Bot toward its left, the right detectors should increase in value,
and if you move the Boe-Bot toward its right, the left detectors should show the higher
value.
Programming for Stripe Following
You will only need to make a few small adjustments to FollowingBoeBot.bs2. from page
282 to make it work for following a stripe. First, the Boe-Bot should move toward
objects closer than the
This is the opposite of how FollowingBoeBot.bs2 behaved. To reverse the direction the
Boe-Bot moves when it senses that the object is not at the
change the signs of
Kpr
4 tend to work best. This next example program will use a
Example Program: StripeFollowingBoeBot.bs2
Board of Education
Rev C
Vdd
+
X4
IR pairs close-up
√
√
√
√
from 35 to -35. You will need to experiment with your
Vin
© 2000-2003
Adjust your IR LED/detector pairs until the Boe-Bot passes this last test. Then
you will be ready to try following the stripe.
Open FollowingBoeBot.bs2 and save it as StripeFollowingBoeBot.bs2.
Change the
Change
X5
Vss
Kpl
Kpl
SetPoint
from -35 to 35.
and
SetPoint
Kpr
Top view of Boe-Bot straddling the stripe
declaration from
. In other words, change
and away from objects further from the
9 V dc
B a t t ery
S out
S i n
A T N
V ss
P 0
P 1
P 2
P 3
P 4
P 5
P 6
P 7
w w w . st a mps i nc l a ss . c om
1
U 1
6- 9V D C
TM
V i n
V ss
R st
V dd
P 15
P 14
P 13
P 12
P 11
P 10
P 9
P 8
V ss
P 0
P 2
P 4
P 6
P 8
P 10
P 12
P 14
V dd
R eset
0 1 2
X 1
P w r
V ss
P 1
P 3
P 5
P 7
P 9
P 11
P 13
P 15
V i n
P 15
P 15
P 14
P 14
P 13
P 13
P 12
P 12
P 11
P 11
P 10
P 10
P 9
P 9
P 8
P 8
P 7
P 7
P 6
P 6
P 5
P 5
P 4
P 4
P 3
P 3
P 2
P 2
P 1
P 1
P 0
P 0
X 2
X 2
X 3
X 3
B o a rd o f E d uc a t i o n
R ev C
V dd
V dd
+
15 1 4
X 4
V dd
V i n
V i n
© 2 000 - 2 003
13 1 2
X 5
V ss
V ss
R ed
B l ack
SetPoint CON 2
Kpl
SetPoint
SetPoint
SetPoint
from -35 to 35, and change
to
of 3.
SetPoint CON 3
. Values from 2 to
distance, simply
Figure 8-12
Stripe Scan
Test
SetPoint
.
.