Parallax Boe-Bot Student Manual page 305

√ Change from 35 to -35.
Kpr
√ 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
SetPoint
on the track.
15 1 4 13 1 2
6- 9V D C V dd
9 V dc
B a t t ery R ed
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 14 P 14
P 4 P 5
P 6 P 7 P 13 P 13
TM P 8 P 9 P 12 P 12
1 P 10 P 11 P 11 P 11
S out V i n P 12 P 13 P 10 P 10
P 9 P 9
S i n V ss P 14 P 15 P 8 P 8
A T N R st V dd V i n
V ss V dd X 1 P 7 P 7
P 0 P 15 P 6 P 6
P 1 U 1 P 14 P 5 P 5
P 2 P 13 P 4 P 4
P 3 P 3
P 3 P 12 +
P 4 P 11 R eset P 2 P 2
P 5 P 10 P 1 P 1
P 6 P 9 P 0 P 0
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 mp si nc l a ss . c om
R ev C © 2 000 - 2 003
Start
Finish
' -----[ 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 CON
Chapter 8: Robot Control with Distance Detection · Page 291
constant values of 2, 3, and 4 should work.
SetPoint
values and make notes of your Boe-Bot's performance
28" (71 cm)
35
Figure 8-13
Stripe
Following
Course
Useful for following a
' Stamp directive.
' PBASIC directive.
' Change from -35 to 35