Parallax Boe-Bot Student Manual page 304

Page 290 · Robotics with the Boe-Bot
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.
√ Adjust your IR LED/detector pairs until the Boe-Bot passes this last test. Then
you will be ready to try following the stripe.
X4 X5
Vdd Vin Vss
+
Board of Education
Rev C
© 2000-2003
IR pairs close-up
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
Kpl
from 35 to -35. You will need to experiment with your
Kpr
4 tend to work best. This next example program will use a
Example Program: StripeFollowingBoeBot.bs2
√ Open FollowingBoeBot.bs2 and save it as StripeFollowingBoeBot.bs2.
√ Change the
SetPoint
√ Change from -35 to 35.
Kpl
6- 9V D C 15 1 4 V dd 13 1 2
9 V dc
R ed
B a t t ery
B l ack
X 4 X 5
P w r V dd V dd V i n V i n V ss V ss
V ss V ss X 3 X 3
P 0 P 1
P 2 P 3 P 15 P 15
P 4 P 5 P 14 P 14
P 7 P 13 P 13
TM P 6 P 8 P 9 P 12 P 12
1 P 11 P 11
P 10 P 11 P 10 P 10
S out V i n P 12 P 13
S i n V ss P 14 P 15 P 9 P 9
A T N R st V dd V i n P 8 P 8
V ss V dd X 1 P 7 P 7
P 6 P 6
P 0 P 15 P 5 P 5
P 1 U 1 P 14
P 2 P 13 P 4 P 4
P 3 P 12 P 3 P 3 +
P 4 P 11 R eset P 2 P 2
P 5 P 10 P 1 P 1
P 0 P 0
P 6 P 9
P 7 P 8 X 2 X 2
0 1 2 B o a rd o f E d uc a t i o n
w w w . st a mps i nc l a ss . c om R ev C © 2 000 - 2 003
Top view of Boe-Bot straddling the stripe
and away from objects further from the
SetPoint
and . In other words, change
Kpr
declaration from
distance, simply
SetPoint
from -35 to 35, and change
Kpl
. Values from 2 to
SetPoint
of 3.
SetPoint
to
SetPoint CON 2 SetPoint CON 3
Figure 8-12
Stripe Scan
Test
.
SetPoint
.