28125 Parallax Inc, 28125 Datasheet - Page 305

• 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 - StripeFollowingBoeBot.bs2
' Boe-Bot adjusts its position to move toward objects that are closer than
' zone 3 and away from objects further than zone 3.
' 2.25 inch wide vinyl electrical tape stripe.
' {$STAMP BS2}
' {$PBASIC 2.5}
DEBUG "Program Running!"
' -----[ Constants ]----------------------------------------------------------
Kpl
√
√
√
√
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 mp si 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
Change
Run the program (shown below).
Place your Boe-Bot at the “Start” location shown in Figure 8-13. The Boe-Bot
should wait there until you place your hand in front of its IR pairs. It will then
roll forward. When it clears the starting stripe, take your hand away, and it
should start tracking the stripe. When it sees the “Finish” stripe, it should stop
and wait there.
Assuming that you can get distance readings of 5 from the electrical tape and 0
from the poster board,
Try different
on the track.
V ss
P 0
P 2
P 4
P 6
P 8
P 10
P 12
P 14
V dd
0 1 2
X 1
R eset
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
Start
X 3
X 3
X 2
X 2
V dd
V dd
B o a rd o f E d uc a t i o n
R ev C
+
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
Kpr
CON
from 35 to -35.
SetPoint
Finish
k
c
ed
B
l a
R
3
n
ss
ss
200
o
V
V
t i
5
1
2
0-
ca
X
3
200
u
1
d
n
n
dd
©
E
V i
V i
V
o f
X4
4
35
1
C
rd
5
a
+
d
d
d
d
1
ev
o
V
V
R
B
2
2
X3
X3
X
X
10
0
11
1
12
2
13
3
14
15
5
4
P
0
P0
P
1
P1
P
2
P2
P
3
P3
P
4
P4
P
5
P5
P
6
P6
P
7
P7
P
8
P8
P
9
P9
P
P1
P
P1
P
P1
P
P1
P
P
P1
P1
n
5
3
11
ss
w
r
2
V i
P
1
P
1
P
P
9
P
7
P
5
P
3
V
P
1
P
ese
t
1
X1
0
R
d
4
2
0
s
Vd
P1
P1
P1
P8
P6
P4
P2
P0
Vs
om
8
9
10
11
12
13
14
15
dd
st
ss
i n
TM
C
ss.
c
P
P
P
P
P
P
P
P
V
R
V
V
D
9V
cl
a
6-
i n
ps
U
1
am
t
1
w . s
ry
w
ss
TN
out
d c
w
P
7
P
6
P
5
P
4
P
3
P
2
P
1
P
0
V
A
S
i n
S
a t t
e
V
9
B
SetPoint
28” (71 cm)
values and make notes of your Boe-Bot’s performance
constant values of 2, 3, and 4 should work.
' Stamp directive.
' PBASIC directive.
' Change from -35 to 35
Useful for following a
Figure 8-13
Stripe
Following
Course