Parallax Boe-Bot Student Manual page 340

Page 326 · Robotics with the Boe-Bot
√ Calculate the values of m you will use with the */ operator by multiplying m by
256.
√ Substitute your
BalancePhtoresistors.bs2:
timeLeft = (timeLeft */ 351) + 7
√ Enter, save, and run your adjusted version of BalancePhotoresistors.bs2.
√ Expose both photoresistors to the same light level.
√ Verify that the "after" values are similar and corrected for differences in the
"before" values.
√ Choose a different light level and again, expose both photoresistors to it.
√ Check the "after" values again for similarity.
√ When you have determined your values for m and b, you can modify
RoamingTowardTheLight.bs2 by uncommenting the equation between
Test_Photoresistors
will replace
351
' Robotics with the Boe-Bot - BalancePhotoresistors.bs2
' Test adjustments to Boe-Bot photoresistor circuits.
' {$STAMP BS2}
' {$PBASIC 2.5}
timeLeft VAR
timeRight VAR
DEBUG "PHOTORESISTOR VALUES", CR,
"timeLeft timeRight", CR,
"-------- ---------"
DO
HIGH 6
PAUSE 3
RCTIME 6,1,timeLeft
HIGH 3
PAUSE 3
RCTIME 3,1,timeRight
DEBUG CRSRXY, 0, 3,
DEC5 timeLeft,
" ",
value of m and
and
GOSUB Average_And_Difference
and your b value will replace
Word
Word
b in this line of
. Your m value
.
7
' Stamp directive.
' PBASIC directive.
' Variable declarations.
' Initialization.
' Main routine.
' Left RC time measurement.
' Right RC time measurement.
' Display measurements.
code from
GOSUB