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PROGRAM 41
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frog-testbas program listing
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'-----------------------------------------------------------------------------------------------------------------------------' Name : Frog-testbas ' Compiler : PicBasic Pro MicroEngineering Labs ' Notes : Program to test the main controller ' : board by flashing LEDs, producing ' : sounds and slowly rotating the servos '-----------------------------------------------------------------------------------------------------------------------------' set porta to inputs trisa = %11111111 ' set portb pins 2 & 3 to inputs trisb = %00001100 '-----------------------------------------------------------------------------------------------------------------------------' initialize variables servo_pos_l VAR BYTE servo_pos_r VAR BYTE timer1 VAR BYTE timer2 VAR BYTE timer3 VAR BYTE temp1 VAR BYTE servo_r VAR PORTB5 servo_l VAR PORTB6 switch_r VAR PORTA4
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4 / Frogbotic: Build Your Own Robotic Frog
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switch_l led_l led_r piezo
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VAR PORTA3 VAR PORTB1 VAR PORTB0 VAR PORTB4
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PROGRAM 41
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frog-testbas program listing (continued)
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'-----------------------------------------------------------------------------------------------------------------------------low servo_l low servo_r start: for temp1 = 1 to 10 SOUND piezo, [80,4,100,2] low led_l low led_r pause 50 high led_l high led_r next temp1 SOUND piezo, [100,4,120,2,80,2,90,2] low led_l low led_r rotate: servo_pos_r = 170 gosub right_servo servo_pos_l = 130 gosub left_servo goto rotate '-----------------------------------------------------------------------------------------------------------------------------' subroutines to set servos
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PROGRAM 41
frog-testbas program listing (continued)
both_servo: for timer1 = 1 to 15 pulsout servo_l,servo_pos_l pulsout servo_r,servo_pos_r pause 6 next timer1 return left_servo: for timer2 = 1 to 10 pulsout servo_l,servo_pos_l pause 6 next timer2 return right_servo for timer3 = 1 to 10 pulsout servo_r,servo_pos_r pause 6 next timer3 return end
PROGRAM 42
frog-testhex program listing
:100000007B28A0003B200C080D04031976287020E3 :1000100084132008800664000D280E288C0A03191A :100020008D0F0B28800676288F0022088400200977 :100030003C2084138F0803197628F03091000E08B5 :1000400080389000F03091030319910003198F0359 :10005000031976282B283F2003010C1820088E1F37 :1000600020088E0803190301900F382880061F28E6 :10007000392800002228FF3A8417800576280D08C9 :100080000C0403198C0A80300C1A8D060C198D068D :100090008C188D060D0D8C0D8D0D76288F018E0020 :1000A000FF308E07031C8F07031C762803308D005A :1000B000DF305C2050288D01E83E8C008D09FC303B :1000C000031C65288C07031862288C0764008D0FB9
4 / Frogbotic: Build Your Own Robotic Frog
:1000D00062280C186B288C1C6F2800006F28080001 :1000E0008C098D098C0A03198D0A080083130313E8 :1000F0008312640008008316FF3085000C308600F0 :100100008312061383160613831286128316861231 :1001100083120130A60064000B3026020318B028B9 :100120000630A2001030A00050308E0004301420A1 :1001300064308E00023014208610831686108312DD :10014000061083160610323083124E208614831652 :10015000861083120614831606108312A60F8B28AE :100160000630A2001030A00064308E00043014204D :1001700078308E000230142050308E00023014206F :100180005A308E0002301420861083168610831297 :100190000610831606108312AA30A50000218230B3 :1001A000A400ED20CC280130A70064001030270205 :1001B0000318EC2824088C008D01063084004030A0 :1001C000012025088C008D0106308400203001209C :1001D00006304E20A70FD52808000130A800640083 :1001E0000B3028020318FF2824088C008D010630EC :1001F00084004030012006304E20A80FEF28080070 :100200000130A90064000B302902031812292508C7 :100210008C008D01063084002030012006304E20F5 :0A022000A90F02290800630013294A :02400E00F53F7C :00000001FF
PROGRAM 42
Frog-testhex program listing (cotinued)
The next experiment will be to read the limit switches, and then turn on the corresponding LED when a limit switch has been activated Compile the limit-switchbas program listed in Program 43, and then program the PIC 16F84 with the limit-switchhex listed in Program 44 Insert the PIC into the 18-pin socket on the controller board and turn on the power Use your finger to activate the left limit switch When the switch is activated, the left LED should turn on If the right LED turns on when the left switch is activated, then switch the pins that the limit switches are attached to on the controller board Try the same procedure with the right limit switch If the LEDs do not react when the switches are triggered, then go back and check the wiring
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PROGRAM 43
limit-switchbas program listing
'-----------------------------------------------------------------------------------------------------------------------------' Name : Limit-switchbas ' Compiler : PicBasic Pro MicroEngineering Labs ' Notes : Program to monitor the status of the leg ' : position limit switches and turn on the ' : corresponding LED when triggered '-----------------------------------------------------------------------------------------------------------------------------' set porta to inputs trisa = %11111111 ' set portb pins 2 & 3 to inputs trisb = %00001100 '-----------------------------------------------------------------------------------------------------------------------------' initialize variables servo_pos_l servo_pos_r timer1 timer2 timer3 temp1 servo_r servo_l switch_r switch_l led_l led_r piezo low servo_l low servo_r '-----------------------------------------------------------------------------------------------------------------------------start: VAR BYTE VAR BYTE VAR BYTE VAR BYTE VAR BYTE VAR BYTE VAR PORTB5 VAR PORTB6 VAR PORTA4 VAR PORTA3 VAR PORTB1 VAR PORTB0 VAR PORTB4
4 / Frogbotic: Build Your Own Robotic Frog
for temp1 = 1 to 5 SOUND piezo, [80,4,100,2] low led_l low led_r pause 50 high led_l high led_r next temp1 SOUND piezo, [100,4,120,2,80,2,90,2] low led_l low led_r right: if switch_r = 1 then high led_r else low led_r endif left: if switch_l = 1 then high led_l else low led_l endif goto right end
PROGRAM 43
limit-switchbas program listing (continued)
:1000000061288F00220884002009282084138F088B :1000100003195C28F03091000E0880389000F03011 :1000200091030319910003198F0303195C28182801 :100030002B2003010C1820088E1F20088E0803199E :100040000301900F252880060C28262800000F2881
PROGRAM 44
limit-switchhex program listing
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PROGRAM 44
limit-switchhex program listing (continued)
:10005000841780055C280D080C0403198C0A803075 :100060000C1A8D060C198D068C188D060D0D8C0D35 :100070008D0D5C288F018E00FF308E07031C8F07CB :10008000031C5C2803308D00DF3048203C288D01A4 :10009000E83E8C008D09FC30031C51288C070318A6 :1000A0004E288C0764008D0F4E280C1857288C1C86 :1000B0005B2800005B28080083130313831264008D :1000C00008008316FF3085000C308600831206136B :1000D000831606138312861283168612831201304A :1000E000A600640006302602031896280630A200F7 :1000F0001030A00050308E000430012064308E009B :100100000230012086108316861083120610831693 :100110000610323083123A2086148316861083121A :100120000614831606108312A60F71280630A2004B :100130001030A00064308E000430012078308E0032 :100140000230012050308E00023001205A308E00E3 :100150000230012086108316861083120610831643 :10016000061083126400051EBA28061483160610B2 :100170008312BE2806108316061083126400851DA4 :10018000C6288614831686108312CA288610831602 :0A01900086108312B2286300CB280A :02400E00F53F7C :00000001FF
Now that everything is running correctly, it is time to put all of the individual pieces of software together into one program that will allow the frog robot to jump in a coordinated manner The program will start by monitoring the limit switches that determine when the legs spring-loading mechanisms are set in the proper position If the limit switches are not triggered, then the program will command the servos to rotate forward until both legs are set When both legs are in position, the servos are paused for a moment and then both are commanded to rotate forward at the same time The spring mechanisms then let go, and the energy stored in the springs forces each leg down quickly, causing the frog s body to leap forward off the ground Because it is impossible to get the two legs perfectly coordinated when the mechanism
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