Programming The Penguin; Programming Concept; Servo Calibration; Penguin's Basic Stamp 2Px24 Pinout - Parallax Penguin Manual

3.0 PROGRAMMING THE PENGUIN

3.1. PROGRAMMING CONCEPT

Programming the Penguin to walk is a matter of shifting its center of gravity from side to side with the tilt
servo, coordinated with moving the legs forward and backward with the stride servo. The BS2px24's high
speed and expanded memory and RAM are useful for storing motion sequences and for performing the
computations needed in sensor-based autonomous navigation.
Close the Debug Terminal before downloading a new program, disconnecting the USB cable,
or switching off the power to your tethered Penguin! If you fail to close the Debug Terminal
before any of these actions, the port may hang up and the BASIC Stamp Editor may freeze when you
next try to program your Penguin. If this happens, close the Editor with the Task Manager. Be sure to
download the latest version of the BASIC Stamp Editor from www.parallax.com.

3.2. SERVO CALIBRATION

The Penguins servos must be calibrated before the Penguin can walk. This is a crucial step and the
Penguin will not walk without it.
1) Run Penguin-ServoCalibration.bpx.
2) Click in the white Transmit area at the top of the Debug Terminal.
3) Press Enter to enable the servos.
4) Press + and − to adjust the tilt servo until the Penguin can stand level.
5) Press the space bar to switch to the stride servo.
6) Press + and − to adjust the stride servo until the Penguin's feet are in line with each other.
7) Press S to save the new settings.
8) Listen for the long beep to ensure that the settings were saved.
Tip: Pressing 1 through 5 changes the coarseness of the adjustments

3.3. PENGUIN'S BASIC STAMP 2PX24 PINOUT

I/O Pin
P0
P1
P2
P3
P4
P5
P6
P7
P8
P9
P10
P11
P12
P13
P14
P15
Copyright © Parallax Inc.
Description
Photoresistor – right
Photoresistor – left
Infrared emitter – right
Infrared emitter – left
Infrared receiver
Front I/O expansion port
Servo stride
Servo tilt
7-segment LED clock
7-segment LED data
7-segment LED latch
Rear I/O expansion port
Speaker
Hitachi HM55B Compass – CLK (clock)
Hitachi HM55B Compass – CS (chip select)
Hitachi HM55B Compass – DIN/DOUT (data in/out)
Penguin Robot (#27313-27316)
Direction
Output
Output
Output
Output
Input
Input/Output
Output
Output
Output
Output
Output
Input/Output
Output
Output
Output
Input/Output
v1.4 2/16/2010 Page 18 of 23