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PROGRAM 55
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ir_input servo_1 servo_2 servo_3 servo_4 servo_5 servo_6
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ir_count temp object_detect num_samples threshold rand timer temp1 i look_right look_left turn_count servo1 servo2 servo3 servo4 servo5 servo6 low led_left low led_right Low Low Low Low Low servo1 servo2 servo3 servo4 servo5
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5 / Serpentronic: Build Your Own Robotic Snake
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Low servo6 turn_count = 0 num_samples = 40 threshold = 25 '-----------------------------------------------------------------------------------------------------------------------------' create randon noises and flash LED's For temp1 = 1 to 5 High led_left Low led_right GoSub randomize Pause 50 Low led_left High led_right GoSub randomize Pause 50 Next temp1 Low led_right '-----------------------------------------------------------------------------------------------------------------------------' start main execution start: If cal_switch = 1 then pause 50 release_calibrate: If cal_switch = 1 then goto release_calibrate else Sound piezo,[120,4,90,2,100,2,110,4] pause 50 goto ir_cal endif
PROGRAM 55
serpentronicbas program listing (continued)
Amphibionics
PROGRAM 55
serpentronicbas program listing (continued)
endif gosub infrared if object_detect = 1 then high led_left high led_right Sound piezo,[100,4,90,2] servo1 = 180 gosub servo servo1 = 120 gosub servo turn_count = turn_count + 1 if turn_count0 = 1 then gosub slide_right else gosub slide_left endif endif low led_left low led_right gosub forward goto start 'Subroutines start here '-----------------------------------------------------------------------------------------------------------------------------' slither forward routine in a sine wave pattern forward: servo1 servo2 servo3 servo4
= = = =
157 210 143 100
5 / Serpentronic: Build Your Own Robotic Snake
servo5 = 157 servo6 = 210 GoSub servo servo1 = 143 servo2 = 100 servo3 = 157 servo4 = 210 servo5 = 143 servo6 = 100 GoSub servo return '-----------------------------------------------------------------------------------------------------------------------------' right turn movement routine slide_right: For temp1 = 1 to 3 servo1 = 150 servo2 = 210 servo3 = 150 servo4 = 100 servo5 = 150 servo6 = 210 GoSub servo servo1 = 190 servo2 = 100 servo3 = 190 servo4 = 210 servo5 = 190 servo6 = 100 GoSub servo next temp1 return '-----------------------------------------------------------------------------------------------------------------------------' left turn movement routine
PROGRAM 55
serpentronicbas program listing (continued)
Amphibionics
PROGRAM 55
serpentronicbas program listing (continued)
slide_left: For temp1 = 1 to 3 servo1 = 150 servo2 = 210 servo3 = 150 servo4 = 100 servo5 = 150 servo6 = 210 GoSub servo servo1 = 100 servo2 = 100 servo3 = 100 servo4 = 210 servo5 = 100 servo6 = 100 GoSub servo Next temp1 return '-----------------------------------------------------------------------------------------------------------------------------' random sound generator subroutine randomize: Random rand i = rand & 31 + 64 Sound piezo,[i,4] Return '-----------------------------------------------------------------------------------------------------------------------------' infrared detection subroutine infrared: ir_count = 0 object_detect = 0
5 / Serpentronic: Build Your Own Robotic Snake
for temp = 1 to num_samples if ir_input = 0 then ir_count = ir_count + 1 endif next if ir_count >= threshold then object_detect = 1 endif return '-----------------------------------------------------------------------------------------------------------------------------' subroutine to calibrate IR sensors ir_cal: If ir_input = 0 then high led_left high led_right endif low led_left low led_right If cal_switch = 1 then pause 50 button_release: If cal_switch = 1 then goto button_release else Sound piezo,[120,4,90,2,100,2,110,4] pause 50 goto start endif endif goto ir_cal
PROGRAM 55
serpentronicbas program listing (continued)
Amphibionics
PROGRAM 55
serpentronicbas program listing (continued)
'-----------------------------------------------------------------------------------------------------------------------------' subroutine to set servos servo: For timer = 1 to 20 PulsOut servo_1,servo1 PulsOut servo_2,servo2 PulsOut servo_3,servo3 PulsOut servo_4,servo4 PulsOut servo_5,servo5 PulsOut servo_6,servo6 Pause 12 Next timer Return
PROGRAM 56
serpentronichex file listing
:100000009128A0003F200C080D0403198C2886209D :1000100084132008800664000D280E288C0A03191A :100020008D0F0B2880068C288F0022088400200961 :10003000402084138F0803198C28F03091000E089B :1000400080389000F03091030319910003198F0359 :1000500003198C282B28552003010C1820088E1F0B :1000600020088E0803190301900F382880061F28E6 :100070003928000022284320FF3A80054028FF3A13 :10008000841780058C28940006309419053084006C :1000900000308A001408073982070134023404341E :1000A000083410342034403480340D080C04031913 :1000B0008C0A80300C1A8D060C198D068C188D0652 :1000C0000D0D8C0D8D0D8C288F018E00FF308E074D :1000D000031C8F07031C8C2803308D00DF30722037 :1000E00066288D01E83E8C008D09FC30031C7B28BE :1000F0008C07031878288C0764008D0F78280C185B :1001000081288C1C85280000852808008C098D0911 :100110008C0A03198D0A08008313031383126400E9 :1001200008008316850103308600831205118316AB :100130000511831285118316851183122C083B202B
5 / Serpentronic: Build Your Own Robotic Snake
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PROGRAM 56
serpentronichex file listing (continued)
Amphibionics
PROGRAM 56
serpentronichex file listing (continued)
:1003A0000530A2001030A00078308E0004301420F8 :1003B0005A308E000230142064308E000230142037 :1003C0006E308E000430142032306420D228B329DD :1003D0000130B50064001530350203181D2A2C08C1 :1003E0008C008D0106308400043001202D088C0023 :1003F0008D0106308400083001202E088C008D010C :1004000006308400803001202F088C008D010630DA :1004100084004030012030088C008D0106308400BB :100420002030012031088C008D010630840010300E :0C04300001200C306420B50FEA29080000 :02400E00F53F7C :00000001FF
Summary
This concludes the construction and programming of the robot snake Much more can be done with this robot than what has been covered A remote control can easily be added to this project, since there are two connectors on the controller board for this purpose ( 12 of the first book in this series, Insectronics, has details) Other customizations that can be added are: Use the infrared sensor and the snake s head movement to scan the area around the snake for objects Use this information to determine the correct path before moving Create a skin for the robot using a waterproof material such as latex rubber Add a wireless video camera Develop a side-winding movement routine Figure out a routine that will enable the robot to move in reverse, unlike a real snake
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