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Body Position 1 Servo and port address 1 PortB2 2 PortB3 3 PortB7 4 PortB6 5 PortB5 6 PortB4 Pulsout value 150 210 150 100 150 210
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Body Position 2 Servo and port address 1 PortB2 2 PortB3 3 PortB7 4 PortB6 5 PortB5 6 PortB4 Pulsout value 190 100 190 210 190 100
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5 / Serpentronic: Build Your Own Robotic Snake
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The next section outlines conditioning the input received by the infrared sensor The motion control algorithms and sensor input routines will then be put together into one main control program The infrared software routine will need to take input from the infrared sensor so that the robot can change its behavior to safely avoid any obstacles it may encounter while moving through its environment A software subroutine will be developed to monitor the infrared sensor modules, perform signal processing to clean up any background noise or transient signals to make the information more useful, and then return results to the robot s main program In this behavior-based method of artificial intelligence, the robot will continue on with the dominant behavior of exploring, and will change that course of action immediately based on sensor input We want the main program to call the subroutine and have the subroutine simply return a value of either a 1 or a 0, with 0 indi177
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cating that no object was sensed and 1 indicating that an object is present These values will be stored in the variable object_detect When the program execution is returned back to the main program, certain decisions can easily be made, based on this information The infrared subroutine takes 40 samples from the module and counts the number of positive hits received The number of samples taken can also be configured by changing the variable num_samples Because of stray infrared and signals from the environment, the module is constantly producing false positive signals that are referred to as noise The average acceptable amount of noise picked up by the sensor module is called the noise floor The routine needs to set a threshold point above the typical amount of noise and report a sensed object only if the number of positive signals received throughout the number of samples taken exceeds the noise floor With the PNA4602M sensor modules, I found that the typical false positive was actually very low five for every 40 samples taken To be on the safe side, the threshold is set at 25 for every 40 samples, to ensure that an object is present By changing the threshold value, you can change the sensitivity and distance detection response of the module If you want a more accurate reading, the num_samples value can be increased, but will take more time for the routine to execute The last option is using the mode select push button to invoke the infrared sensor calibration routine This will enable the user to simply push the button on the robot s head to calibrate the sensor, as described earlier The experimenter can also develop a software routine to use the push button to choose different modes of behavior when the robot starts up When the main software routine senses that the button has been pushed, it goes into a tight loop until it senses that the switch has been let up before going to the
5 / Serpentronic: Build Your Own Robotic Snake
infrared calibration routine This is so that when the program execution jumps to the calibration routine, it does not immediately jump back to the main routine because the operator still has the button pushed The main robot snake control program is called serpentronicbas and is listed in Program 55 The program operates by constantly moving the snake in a forward direction, monitoring the infrared sensor and then responding by turning either left or right if an obstacle was sensed Compile serpentronicbas and then program the PIC 16F84 with the serpentronichex file listed in Program 56 The program can be put into the infrared calibration mode by holding down the push button
'-----------------------------------------------------------------------------------------------------------------------------' Name : Serpentronicbas ' Compiler : PicBasic Pro - MicroEngineering Labs ' Notes : Complete control Program for the robot ' : snake Mode select push-button switch ' : allows the infrared sensor to be easily ' : calibrated The robot will stop and turn ' : if an obstacle is encountered '-----------------------------------------------------------------------------------------------------------------------------' PortA set as outputs trisa = %00000000 ' PortB set as outputs pins 0-1 inputs trisb = %00000011 '-----------------------------------------------------------------------------------------------------------------------------' initialize variables led_left led_right piezo cal_switch VAR PORTA2 VAR PORTA3 VAR PORTA4 VAR PORTB0 179 PROGRAM 55
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