Summary - Parallax Boe-Bot Student Manual

SUMMARY

This chapter introduced the basic Boe-Bot maneuvers: forward, backward, rotating in
place to turn to the right or left, and pivoting. The type of maneuver is determined by the
commands'
PULSOUT Duration
by the loop's
FOR...NEXT
Chapter 2 included a hardware adjustment, physically centering the Boe-Bot's servos
with a screwdriver.
manipulating the software. Specifically, a difference in rotation speed between the two
servos was compensated for by changing the
for the faster of the two servos. This changes the Boe-Bot's path from a curve to a
straight line if the servos are not perfectly matched. To refine turning so that the Boe-Bot
turns to the desired angle, the
can be adjusted.
Programming the Boe-Bot to travel a pre-defined distance can be accomplished by
measuring the distance it travels in one second, with the help of a ruler. Using this
distance, and the number of pulses in one second of run time, you can calculate the
number of pulses required to cover a desired distance.
Ramping was introduced as a way to gradually accelerate and decelerate. It's kinder to
the servos, and we recommended that you use your own ramping routines in place of the
abrupt start and stop routines shown in the example programs. Ramping is accomplished
by taking the same variable that's used as the
adding it to or subtracting it from 750 in the
Subroutines were introduced as a way to make pre-programmed maneuvers reusable by a
PBASIC program. Instead of writing an entire
single subroutine that contains a
command. A subroutine begins with a label, and ends with the
GOSUB
A subroutine is called from the main program with a
subroutine is finished and it encounters the
executed is the one immediately following the
arguments. How far the maneuver goes is determined
and
StartValue EndValue
This chapter focused on fine tuning adjustments made by
PULSOUT
and
StartValue EndValue
Counter
PULSOUT
FOR...NEXT
loop can be executed as needed with the
FOR...NEXT
RETURN
GOSUB
Chapter 4: Boe-Bot Navigation · Page 157
arguments.
command's
Duration
arguments of a
FOR...NEXT
argument in a
FOR...NEXT
command's argument.
Duration
loop for each new maneuver, a
RETURN
command. When the
GOSUB
command, the next command to be
command.
argument
loop
loop and
command.