Difference between revisions of "Boe Boy"

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−
'''Author(s):'''     <BR>  
+
'''Author(s):'''   Artemis Adami, Cristina Nicoleta Iordachi, Liubov Negodayeva  <BR>  
−
'''Country:'''  Greece Romania Russia                            <BR>
+
'''Country:'''  Greece, Romania, Russia                            <BR>
 
'''Date:''' 13.08.2009                              <BR>
 
'''Date:''' 13.08.2009                              <BR>
 
'''Activity:''' [http://www.centrobot.eu/rss09 Centrobot Robotic Summer School 2009]<BR>
 
'''Activity:''' [http://www.centrobot.eu/rss09 Centrobot Robotic Summer School 2009]<BR>
 
'''Location:''' Vienna, Austria              <BR>
 
'''Location:''' Vienna, Austria              <BR>
−
'''Hardware:''' LEGO Mindstorms NXT     <BR>
+
'''Hardware:''' BoeBot     <BR>
  
 +
== Abstract ==
 +
I am Boe Boy …“what can i do for u ?“
  
−
== Abstract ==
+
- Follow the line [ 3 QTI Line sensor detecting white or black –programmed with specific commands in every case] <BR>
 +
- Capability of detecting obstacles and avoiding them …[ one ParallaxPingSensor –watch out it is not headspeakers lol- detecting the obstacles in front ]
  
−
Our robot...
+
-----------------------------------------------------------------------------
−
 
+
he can not fly … but he will always be capable of walking that Austrian line
 +
-----------------------------------------------------------------------------
  
 
== Project Files ==
 
== Project Files ==
  
  
−
[[Image:namefile.jpg]]
+
[[Image:BoeBoy.jpg | thumb | left | 300 pixels]]
 +
 
 +
 
 +
The source code:
 +
 
 +
<source lang="basic">
 +
'{$STAMP BS2}
 +
'{$PBASIC 2.5}
 +
FREQOUT 4, 2000, 3000
 +
 
 +
' -----[ I/O Definitions ]-------------------------------------------------
 +
 
 +
Ping            PIN    14
 +
qti VAR Nib
 +
pulseCount VAR Byte
 +
 
 +
 
 +
' -----[ Constants ]-------------------------------------------------------
 +
 
 +
#SELECT $STAMP
 +
  #CASE BS2, BS2E
 +
    Trigger    CON    5                      ' trigger pulse = 10 uS
 +
    Scale      CON    $200                    ' raw x 2.00 = uS
 +
  #CASE BS2SX, BS2P, BS2PX
 +
    Trigger    CON    13
 +
    Scale      CON    $0CD                    ' raw x 0.80 = uS
 +
  #CASE BS2PE
 +
    Trigger    CON    5
 +
    Scale      CON    $1E1                    ' raw x 1.88 = uS
 +
#ENDSELECT
 +
 
 +
RawToIn        CON    889                    ' 1 / 73.746 (with **)
 +
RawToCm        CON    2257                    ' 1 / 29.034 (with **)
 +
 
 +
IsHigh          CON    1                      ' for PULSOUT
 +
IsLow          CON    0
 +
 
 +
 
 +
' -----[ Variables ]-------------------------------------------------------
 +
 
 +
rawDist        VAR    Word                    ' raw measurement
 +
inches          VAR    Word
 +
cm              VAR    Word
 +
 
 +
' -----[ Program Code ]----------------------------------------------------
 +
 
 +
DO
 +
 
 +
'------[ Reading ] --------------------------------------------------------
 +
HIGH 3
 +
HIGH 15
 +
HIGH 8
 +
PAUSE 1
 +
qti.BIT0 = IN2
 +
qti.BIT1 = IN9
 +
qti.BIT2 = IN7
 +
'-------------------------------------------------------------------------
 +
 
 +
'-----[ Decision of following the line ] ----------------------------------
 +
SELECT qti
 +
 
 +
CASE %000 ' Forward
 +
  PULSOUT 12, 850
 +
  PULSOUT 13, 650
 +
CASE %010 ' Forward
 +
  PULSOUT 12, 850
 +
  PULSOUT 13, 650
 +
CASE %011 ' Pivot right
 +
  PULSOUT 12, 750
 +
  PULSOUT 13, 650
 +
CASE %001 ' Rotate right
 +
  PULSOUT 12, 850
 +
  PULSOUT 13, 850
 +
CASE %110 ' Pivot Left
 +
  PULSOUT 12, 750
 +
  PULSOUT 13, 650
 +
CASE %100 ' Rotate Left
 +
  PULSOUT 12, 650
 +
  PULSOUT 13, 650
 +
CASE %101 ' Forward
 +
  PULSOUT 12, 850
 +
  PULSOUT 13, 650
 +
 
 +
ENDSELECT
 +
'--------------------------------------------------------------------------
 +
 
 +
'------[ Reading ] --------------------------------------------------------
 +
 
 +
PAUSE 50
 +
GOSUB Get_Sonar                            ' get sensor value
 +
inches = rawDist ** RawToIn                ' convert to inches
 +
cm = rawDist ** RawToCm                    ' convert to centimeters
 +
'-------------------------------------------------------------------------
 +
 
 +
'------[ Avoiding the obstacle ] -----------------------------------------
 +
IF ( cm < 10 AND cm > 7 ) THEN
 +
  FREQOUT 4, 2000, 2500, 3000
 +
  GOSUB Turn_Left
 +
  GOSUB Stopp
 +
  GOSUB Forward_Pulse
 +
  GOSUB Stopp
 +
  GOSUB Turn_Right
 +
  GOSUB Stopp
 +
  GOSUB Forward_Pulse
 +
  GOSUB Stopp
 +
  GOSUB Turn_Right
 +
ENDIF
 +
'------------------------------------------------------------------------
 +
 
 +
LOOP
 +
'------------------------------------------------------------------------
 +
 
 +
 
 +
'------[ Subroutines ] ---------------------------------------------------
 +
 
 +
 
 +
Get_Sonar:
 +
' This subroutine triggers the Ping sonar sensor and measures
 +
' the echo pulse.  The raw value from the sensor is converted to
 +
' microseconds based on the Stamp module in use.  This value is
 +
' divided by two to remove the return trip -- the result value is
 +
' the distance from the sensor to the target in microseconds.
 +
  Ping = IsLow                                  ' make trigger 0-1-0
 +
  PULSOUT Ping, Trigger                        ' activate sensor
 +
  PULSIN  Ping, IsHigh, rawDist                ' measure echo pulse
 +
  rawDist = rawDist */ Scale                    ' convert to uS
 +
  rawDist = rawDist / 2                        ' remove return trip
 +
 
 +
RETURN
 +
 
 +
Forward_Pulse: ' Send a single forward pulse.
 +
FOR pulseCount = 0 TO 240
 +
  PULSOUT 12,850
 +
  PULSOUT 13,650
 +
NEXT
 +
 
 +
FOR pulseCount = 0 TO 80
 +
  PULSOUT 12,850
 +
  PULSOUT 13,650
 +
NEXT
 +
 
 +
RETURN
 +
 
 +
Turn_Left: ' Left turn, about 90-degrees.
 +
FOR pulseCount = 0 TO 140
 +
  PULSOUT 12, 650
 +
  PULSOUT 13, 650
 +
NEXT
 +
 
 +
RETURN
 +
 
 +
Turn_Right: ' Right turn, about 90-degrees.
 +
FOR pulseCount = 0 TO 100
 +
  PULSOUT 12, 850
 +
  PULSOUT 13, 850
 +
NEXT
 +
 
 +
RETURN
 +
 
 +
Rotate: ' Rotating about 180-degrees
 +
FOR pulseCount = 0 TO 230
 +
  PULSOUT 12, 850
 +
  PULSOUT 13, 850
 +
NEXT
 +
 
 +
RETURN
 +
 
 +
Stopp: '  Send a single stop pulse.
 +
  PULSOUT 12, 750
 +
  PULSOUT 13, 750
  
−
The source code: maybe...
+
RETURN
 +
</source>
  
 
Go back to the [http://virtuallab.kar.elf.stuba.sk/robowiki/index.php?title=Summer_School_2009 List of the projects]
 
Go back to the [http://virtuallab.kar.elf.stuba.sk/robowiki/index.php?title=Summer_School_2009 List of the projects]

Latest revision as of 22:12, 13 August 2009

Overview

Author(s): Artemis Adami, Cristina Nicoleta Iordachi, Liubov Negodayeva
Country: Greece, Romania, Russia
Date: 13.08.2009
Activity: Centrobot Robotic Summer School 2009
Location: Vienna, Austria
Hardware: BoeBot

Abstract

I am Boe Boy …“what can i do for u ?“

- Follow the line [ 3 QTI Line sensor detecting white or black –programmed with specific commands in every case]
- Capability of detecting obstacles and avoiding them …[ one ParallaxPingSensor –watch out it is not headspeakers lol- detecting the obstacles in front ]

he can not fly … but he will always be capable of walking that Austrian line

Project Files

300 pixels


The source code: 

'{$STAMP BS2}
'{$PBASIC 2.5}
FREQOUT 4, 2000, 3000

' -----[ I/O Definitions ]-------------------------------------------------

Ping            PIN     14
qti VAR Nib
pulseCount VAR Byte


' -----[ Constants ]-------------------------------------------------------

#SELECT $STAMP
  #CASE BS2, BS2E
    Trigger     CON     5                       ' trigger pulse = 10 uS
    Scale       CON     $200                    ' raw x 2.00 = uS
  #CASE BS2SX, BS2P, BS2PX
    Trigger     CON     13
    Scale       CON     $0CD                    ' raw x 0.80 = uS
  #CASE BS2PE
    Trigger     CON     5
    Scale       CON     $1E1                    ' raw x 1.88 = uS
#ENDSELECT

RawToIn         CON     889                     ' 1 / 73.746 (with **)
RawToCm         CON     2257                    ' 1 / 29.034 (with **)

IsHigh          CON     1                       ' for PULSOUT
IsLow           CON     0


' -----[ Variables ]-------------------------------------------------------

rawDist         VAR     Word                    ' raw measurement
inches          VAR     Word
cm              VAR     Word

' -----[ Program Code ]----------------------------------------------------

DO

'------[ Reading ] --------------------------------------------------------
 HIGH 3
 HIGH 15
 HIGH 8
 PAUSE 1
 qti.BIT0 = IN2
 qti.BIT1 = IN9
 qti.BIT2 = IN7
'-------------------------------------------------------------------------

'-----[ Decision of following the line ] ----------------------------------
SELECT qti

CASE %000 ' Forward
  PULSOUT 12, 850
  PULSOUT 13, 650
CASE %010 ' Forward
  PULSOUT 12, 850
  PULSOUT 13, 650
CASE %011 ' Pivot right
  PULSOUT 12, 750
  PULSOUT 13, 650
CASE %001 ' Rotate right
  PULSOUT 12, 850
  PULSOUT 13, 850
CASE %110 ' Pivot Left
  PULSOUT 12, 750
  PULSOUT 13, 650
CASE %100 ' Rotate Left
  PULSOUT 12, 650
  PULSOUT 13, 650
CASE %101 ' Forward
  PULSOUT 12, 850
  PULSOUT 13, 650

ENDSELECT
'--------------------------------------------------------------------------

'------[ Reading ] --------------------------------------------------------

PAUSE 50
GOSUB Get_Sonar                             ' get sensor value
inches = rawDist ** RawToIn                 ' convert to inches
cm = rawDist ** RawToCm                     ' convert to centimeters
'-------------------------------------------------------------------------

'------[ Avoiding the obstacle ] -----------------------------------------
IF ( cm < 10 AND cm > 7 ) THEN
  FREQOUT 4, 2000, 2500, 3000
  GOSUB Turn_Left
  GOSUB Stopp
  GOSUB Forward_Pulse
  GOSUB Stopp
  GOSUB Turn_Right
  GOSUB Stopp
  GOSUB Forward_Pulse
  GOSUB Stopp
  GOSUB Turn_Right
ENDIF
'------------------------------------------------------------------------

LOOP
'------------------------------------------------------------------------


'------[ Subroutines ] ---------------------------------------------------


Get_Sonar:
' This subroutine triggers the Ping sonar sensor and measures
' the echo pulse.  The raw value from the sensor is converted to
' microseconds based on the Stamp module in use.  This value is
' divided by two to remove the return trip -- the result value is
' the distance from the sensor to the target in microseconds.
  Ping = IsLow                                  ' make trigger 0-1-0
  PULSOUT Ping, Trigger                         ' activate sensor
  PULSIN  Ping, IsHigh, rawDist                 ' measure echo pulse
  rawDist = rawDist */ Scale                    ' convert to uS
  rawDist = rawDist / 2                         ' remove return trip

RETURN

Forward_Pulse: ' Send a single forward pulse.
FOR pulseCount = 0 TO 240
  PULSOUT 12,850
  PULSOUT 13,650
NEXT

FOR pulseCount = 0 TO 80
  PULSOUT 12,850
  PULSOUT 13,650
NEXT

RETURN

Turn_Left: ' Left turn, about 90-degrees.
FOR pulseCount = 0 TO 140
  PULSOUT 12, 650
  PULSOUT 13, 650
NEXT

RETURN

Turn_Right: ' Right turn, about 90-degrees.
FOR pulseCount = 0 TO 100
  PULSOUT 12, 850
  PULSOUT 13, 850
NEXT

RETURN

Rotate: ' Rotating about 180-degrees
FOR pulseCount = 0 TO 230
  PULSOUT 12, 850
  PULSOUT 13, 850
NEXT

RETURN

Stopp: '  Send a single stop pulse.
  PULSOUT 12, 750
  PULSOUT 13, 750

RETURN

Go back to the List of the projects

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