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TactileNavigation.BS2 - Revision history
2026-05-13T07:56:29Z
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https://wiki.robotika.sk/robowiki/index.php?title=TactileNavigation.BS2&diff=5607&oldid=prev
Balogh at 11:47, 15 February 2011
2011-02-15T11:47:32Z
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<td colspan="2" style="background-color: white; color:black; text-align: center;">← Older revision</td>
<td colspan="2" style="background-color: white; color:black; text-align: center;">Revision as of 11:47, 15 February 2011</td>
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<tr><td class='diff-marker'>−</td><td style="color:black; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div><del style="font-weight: bold; text-decoration: none;"></source></del></div></td><td colspan="2"> </td></tr>
<tr><td class='diff-marker'> </td><td style="background-color: #f9f9f9; color: #333333; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #e6e6e6; vertical-align: top; white-space: pre-wrap;"><div>' -----[ Title ]--------------------------------------------------------------</div></td><td class='diff-marker'> </td><td style="background-color: #f9f9f9; color: #333333; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #e6e6e6; vertical-align: top; white-space: pre-wrap;"><div>' -----[ Title ]--------------------------------------------------------------</div></td></tr>
<tr><td class='diff-marker'> </td><td style="background-color: #f9f9f9; color: #333333; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #e6e6e6; vertical-align: top; white-space: pre-wrap;"><div>' An example of the robot Boe-Bot with whiskers according the chapter 5</div></td><td class='diff-marker'> </td><td style="background-color: #f9f9f9; color: #333333; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #e6e6e6; vertical-align: top; white-space: pre-wrap;"><div>' An example of the robot Boe-Bot with whiskers according the chapter 5</div></td></tr>
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<tr><td class='diff-marker'> </td><td style="background-color: #f9f9f9; color: #333333; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #e6e6e6; vertical-align: top; white-space: pre-wrap;"><div>RETURN</div></td><td class='diff-marker'> </td><td style="background-color: #f9f9f9; color: #333333; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #e6e6e6; vertical-align: top; white-space: pre-wrap;"><div>RETURN</div></td></tr>
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Balogh
https://wiki.robotika.sk/robowiki/index.php?title=TactileNavigation.BS2&diff=5603&oldid=prev
Balogh: New page: <source lang="basic"> </source> ' -----[ Title ]-------------------------------------------------------------- ' An example of the robot Boe-Bot with whiskers according the chapter 5 ' Boe...
2011-02-15T11:45:51Z
<p>New page: <source lang="basic"> </source> ' -----[ Title ]-------------------------------------------------------------- ' An example of the robot Boe-Bot with whiskers according the chapter 5 ' Boe...</p>
<p><b>New page</b></p><div><source lang="basic"><br />
</source><br />
' -----[ Title ]--------------------------------------------------------------<br />
' An example of the robot Boe-Bot with whiskers according the chapter 5<br />
' Boe-Bot uses whiskers to detect and avoid obstacles.<br />
' {$STAMP BS2} ' Which Stamp processor to use.<br />
' {$PBASIC 2.5} ' Which version of PBASIC to use.<br />
<br />
<br />
' -----[ Variables ]----------------------------------------------------------<br />
<br />
Counter VAR Byte ' counter for FOR/NEXT loop<br />
<br />
' -----[ Initialization ]-----------------------------------------------------<br />
<br />
Left PIN 5 ' Left whisker contact<br />
Right PIN 7 ' Right whisker contact<br />
<br />
INPUT Left<br />
INPUT Right<br />
<br />
<br />
' -----[ Main Routine ]-------------------------------------------------------<br />
<br />
DO ' Neverending loop<br />
<br />
IF (Left = 0) AND (Right = 0) THEN ' Front obstacle<br />
GOSUB Go_Back ' Back up & U-turn (left twice)<br />
GOSUB Go_Left<br />
GOSUB Go_Left<br />
ELSEIF (Left = 0) THEN ' Obstacle on left<br />
GOSUB Go_Back ' Back up & turn right<br />
GOSUB Go_Right<br />
ELSEIF (Right = 0) THEN ' Obstacle on right<br />
GOSUB Go_Back ' Back up & turn left<br />
GOSUB Go_Left<br />
ELSE ' Nothing in front<br />
GOSUB Go_Forward ' Apply a forward pulse<br />
ENDIF<br />
<br />
LOOP ' and repeat again<br />
<br />
' -----[ Subroutines ]--------------------------------------------------------<br />
<br />
Go_Forward: ' Send a single forward pulse.<br />
PULSOUT 13,850<br />
PULSOUT 12,650<br />
PAUSE 20<br />
RETURN<br />
<br />
Go_Left: ' Left turn, about 90-degrees.<br />
FOR Counter = 0 TO 20<br />
PULSOUT 13, 650<br />
PULSOUT 12, 650<br />
PAUSE 20<br />
NEXT<br />
RETURN<br />
<br />
Go_Right:<br />
FOR Counter = 0 TO 20 ' Right turn, about 90-degrees.<br />
PULSOUT 13, 850<br />
PULSOUT 12, 850<br />
PAUSE 20<br />
NEXT<br />
RETURN<br />
<br />
Go_Back: ' Back up.<br />
FOR Counter = 0 TO 40<br />
PULSOUT 13, 650<br />
PULSOUT 12, 850<br />
PAUSE 20<br />
NEXT<br />
RETURN</div>
Balogh