Parallax Boe-Bot Student Manual page 176

Page 162 · Robotics with the Boe-Bot
P1.
P13 P12
850 650
650 850
850 850
650 650
750 850
650 750
750 750
760 740
770 730
850 700
800 650
P2. The circle can be implemented by veering right continuously. Trial and error, a
yard or meter stick, will help you arrive at the right
one-yard diameter:
' Robotics with the Boe-Bot - Chapter 4 - Circle.bs2
' Boe-Bot navigates a circle of
'{$STAMP BS2}
'{$PBASIC 2.5}
DEBUG "Program running!"
pulseCount
FREQOUT 4, 2000, 3000
' -----[ Main Routine ]------------------------------------------------
Main:
DO
PULSOUT 13, 850
PULSOUT 12, 716
PAUSE 20
LOOP
To make the triangle, first calculate the number of pulses required for a one
meter or yard straight line, as in Question 4. Then fine-tune your distances to
Description Behavior
Full Speed Forward
P13 CCW, P12 CW
Full Speed Backward
P13 CW, P12 CCW
Full Speed Right rotate
P13 CCW, P12 CCW
Full Speed Left rotate
P13 CW, P12 CW
P13 Stopped Pivot back left
P12 CCW Full speed
P13 CW Full Speed Pivot back right
P12 Stopped
P13 Stopped Stopped
P12 Stopped
P13 CCW Slow Forward slow
P12 CW Slow
P13 CCW Med Forward medium
P12 CW Med
P13 CCW Full Speed Veer right
P12 CW Medium
P13 CCW Medium Veer left
P12 CW Full Speed
1 yard diameter.
VAR Word
value. Circle with a
PULSOUT
' Pulse count to servos
' Signal program start/reset.
' Veer right