Lost&Found

I started with the boe-Bot Workshop, then attended Digital Signal Prossessing. When I left my Boe-Bot was moving around with whiskers, when I came back it was gone. LOST! So I looked around and FOUND an abandoned robot, IR Sensores attached, but none working. So I fixed the harde ware applied some simple sample code. Now it runs around, avoiding obsticals. Looks like it is a little bit scared. I call him LOST&FOUND!

SOURCE:

' Robotics with the Boe-Bot - FastIrRoaming.bs2 ' Higher performance IR object detection assisted navigation ' {$STAMP BS2} ' {$PBASIC 2.5} DEBUG "Program Running!" irDetectLeft VAR Bit ' Variable Declarations irDetectRight VAR Bit pulseLeft VAR Word pulseRight VAR Word FREQOUT 4, 2000, 3000 ' Signal program start/reset. DO ' Main Routine FREQOUT 8, 1, 38500 ' Check IR Detectors irDetectLeft = IN9 FREQOUT 2, 1, 38500 irDetectRight = IN0 ' Decide how to navigate. IF (irDetectLeft = 0) AND (irDetectRight = 0) THEN pulseLeft = 650 pulseRight = 850 ELSEIF (irDetectLeft = 0) THEN pulseLeft = 850 pulseRight = 850 ELSEIF (irDetectRight = 0) THEN pulseLeft = 650 pulseRight = 650 ELSE pulseLeft = 850 pulseRight = 650 ENDIF PULSOUT 13,pulseLeft ' Apply the pulse. PULSOUT 12,pulseRight PAUSE 15 LOOP ' Repeat main routine