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Creating ANSI/AIM Code 39 in Software / Frogbotic: Build Your Own Robotic Frog

4 / Frogbotic: Build Your Own Robotic Frog
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lets go, the robot does not always leap forward This introduces an interesting random element, and this is the key to actually controlling the robot s in-flight direction If you want to add sensors and direction control to the robot, try writing a routine that will let one of the legs release, and wait for a predetermined amount of time before letting the other leg go These values could be dependent on the information that the microcontroller receives from the sensor input Compile frogboticbas listed in Program 45, and then program the PIC 16F84 with the frogbotichex file listed in Program 46 Insert the PIC 16F84 into the 18-pin socket on the controller board Place the robot on a flat surface and turn on the power Note that the robot should not be used on hardwood or other types of flooring that scratches easily
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'-----------------------------------------------------------------------------------------------------------------------------' Name : Frogboticbas ' Compiler : PicBasic Pro MicroEngineering Labs ' Notes : Program to coordinate the jumping of ' : a robotic frog '-----------------------------------------------------------------------------------------------------------------------------' 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 VAR BYTE VAR BYTE VAR BYTE VAR BYTE VAR BYTE VAR BYTE 111
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PROGRAM 45
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frogboticbas program listing
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Amphibionics
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PROGRAM 45
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frogboticbas program listing (continued)
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servo_r servo_l switch_r switch_l led_l led_r piezo low servo_l low servo_r
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VAR PORTB5 VAR PORTB6 VAR PORTA4 VAR PORTA3 VAR PORTB1 VAR PORTB0 VAR PORTB4
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'-----------------------------------------------------------------------------------------------------------------------------start: 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 servo_pos_r = 158 gosub right_servo else low led_r servo_pos_r = 200 gosub right_servo
4 / Frogbotic: Build Your Own Robotic Frog
endif left: if switch_l = 1 then high led_l servo_pos_l = 152 gosub left_servo else low led_l servo_pos_l = 100 gosub left_servo endif if switch_l = 1 and switch_r = 1 then for temp1 = 1 to 6 servo_pos_l = 150 servo_pos_r = 159 gosub both_servo next temp1 servo_pos_l = 100 servo_pos_r = 200 gosub both_servo endif goto right '-----------------------------------------------------------------------------------------------------------------------------' subroutines to set servos both_servo: for timer1 = 1 to 15 pulsout servo_l,servo_pos_l pulsout servo_r,servo_pos_r pause 6 next timer1 return
PROGRAM 45
frogboticbas program listing (continued)
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PROGRAM 45
frogboticbas program listing (continued)
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 46
frogbotichex program listing
:100000009728A4003B200C080D04031992288C208B :1000100084132408800664000D280E288C0A031916 :100020008D0F0B28800692288F0026088400240953 :100030003C2084138F0803199228F03091000E0899 :1000400080389000F03091030319910003198F0359 :10005000031992282B283F2003010C1824088E1F17 :1000600024088E0803190301900F382880061F28E2 :10007000392800002228FF3A8417800592280D08AD :100080000C0403198C0A80300C1A8D060C198D068D :100090008C188D060D0D8C0D8D0D92288F018E0004 :1000A000FF308E07031C8F07031C922803308D003E :1000B000DF305C2050288D01E83E8C008D09FC303B :1000C000031C65288C07031862288C0764008D0FB9 :1000D00062280C186B288C1C6F2800006F28080001 :1000E0008D018F018E000230752894000F080D02DB :1000F000031D7C280E080C0204300318013003197C :1001000002301405031DFF3092280038031DFF3014 :100110000405031DFF3092288C098D098C0A0319F0 :100120008D0A0800831303138312640008008316EA :10013000FF3085000C3086008312061383160613E9 :10014000831286128316861283120130AA0064007D
4 / Frogbotic: Build Your Own Robotic Frog
:1001500006302A020318CC280630A6001030A4006E :1001600050308E000430142064308E000230142091 :1001700086108316861083120610831606103230FE :1001800083124E208614831686108312061483165B :1001900006108312AA0FA7280630A6001030A4006C :1001A00064308E000430142078308E000230142029 :1001B00050308E00023014205A308E00023014204D :1001C000861083168610831206108316061083127B :1001D0006400051EF32806148316061083129E3051 :1001E000A9006621FA280610831606108312C8306B :1001F000A90066216400851D0529861483168610D2 :1002000083129830A80053210C298610831686107B :1002100083126430A80053210030851901308C000E :10022000013070209E000030051A01308C00013032 :100230007020A0001E08840020088520A000A100D6 :10024000640020082104031938290130AA00640041 :1002500007302A02031833299630A8009F30A900DE :100260003921AA0F27296430A800C830A9003921F4 :10027000E8280130AB00640010302B02031852292B :1002800028088C008D0106308400403001202908A8 :100290008C008D01063084002030012006304E2075 :1002A000AB0F3B2908000130AC0064000B302C027E :1002B0000318652928088C008D0106308400403021 :1002C000012006304E20AC0F552908000130AD004A :1002D00064000B302D020318782929088C008D0149 :1002E000063084002030012006304E20AD0F6829F2 :0602F000080063007929FB :02400E00F53F7C :00000001FF
PROGRAM 46
frogbotichex program listing (continued)
All of the code above can be downloaded from the ThinkBotics Web site located at: wwwthinkboticscom More Frogbotic experiments will be explored later in the book Have fun experimenting with the frog, and don t be afraid to modify and improve the designs however you see fit Figure 463 shows Frogbotic leaping from one leg
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FIGURE 463
Frogbotic leaping from one leg
Snakes
Serpentronic: Build Your Own Robotic Snake
Snakes are characterized by a long, slender body covered in overlapping scales There are approximately 2,800 species of snakes, most of which are nonvenomous and do not harm humans They have no limbs or external ears Snakes possess a backbone and ribs that may number in the hundreds The eyelids do not move, but are fused to form transparent spectacles The jaws of the mouth are not fused, which gives the snake the ability to open its mouth wide This allows snakes to eat prey that are much bigger in diameter than they are After the snake has swallowed, the bulge of the newly eaten animal can be seen before the snake s digestive process breaks it down The snake s forked tongue is completely retractable The snake s organs, such as the heart and stomach, are long and narrow Only one lung is functional, with the left lung being unusable or missing entirely Some primitive snakes have teeth only in one jaw, while the egg-eaters have no teeth at all Most snakes achieve locomotion by slithering along an S-shaped path On land, a snake presses down and pushes forward from the
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