Difference between revisions of "TactileNavigation.BS2"
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Latest revision as of 12:47, 15 February 2011
' -----[ Title ]--------------------------------------------------------------
' An example of the robot Boe-Bot with whiskers according the chapter 5
' Boe-Bot uses whiskers to detect and avoid obstacles.
' {$STAMP BS2} ' Which Stamp processor to use.
' {$PBASIC 2.5} ' Which version of PBASIC to use.
' -----[ Variables ]----------------------------------------------------------
Counter VAR Byte ' counter for FOR/NEXT loop
' -----[ Initialization ]-----------------------------------------------------
Left PIN 5 ' Left whisker contact
Right PIN 7 ' Right whisker contact
INPUT Left
INPUT Right
' -----[ Main Routine ]-------------------------------------------------------
DO ' Neverending loop
IF (Left = 0) AND (Right = 0) THEN ' Front obstacle
GOSUB Go_Back ' Back up & U-turn (left twice)
GOSUB Go_Left
GOSUB Go_Left
ELSEIF (Left = 0) THEN ' Obstacle on left
GOSUB Go_Back ' Back up & turn right
GOSUB Go_Right
ELSEIF (Right = 0) THEN ' Obstacle on right
GOSUB Go_Back ' Back up & turn left
GOSUB Go_Left
ELSE ' Nothing in front
GOSUB Go_Forward ' Apply a forward pulse
ENDIF
LOOP ' and repeat again
' -----[ Subroutines ]--------------------------------------------------------
Go_Forward: ' Send a single forward pulse.
PULSOUT 13,850
PULSOUT 12,650
PAUSE 20
RETURN
Go_Left: ' Left turn, about 90-degrees.
FOR Counter = 0 TO 20
PULSOUT 13, 650
PULSOUT 12, 650
PAUSE 20
NEXT
RETURN
Go_Right:
FOR Counter = 0 TO 20 ' Right turn, about 90-degrees.
PULSOUT 13, 850
PULSOUT 12, 850
PAUSE 20
NEXT
RETURN
Go_Back: ' Back up.
FOR Counter = 0 TO 40
PULSOUT 13, 650
PULSOUT 12, 850
PAUSE 20
NEXT
RETURN
