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being connected to the middle connector of the limit switches (see Figure 642) Turn the power back on, and push the limit switch on the robots right side with your finger The PIC should produce alternating high and low tones from the piezo speaker Trigger the left switch with your finger A steady pulsing tone should be heard If the tones being produced do not correspond to the correct switch, then reverse connector JP4 (Figure 642)
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PROGRAM 61
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crocobot-switchbas program listing
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'-----------------------------------------------------------------------------------------------------------------------------' Name : croco-switchbas ' Compiler : PicBasic Pro - MicroEngineering Labs ' Notes : Program to test the leg limit switches '-----------------------------------------------------------------------------------------------------------------------------' PortA set as outputs pins 0 and 1 inputs trisa = %00000011 ' PortB set as outputs pin 1 input trisb = %00000001 '-----------------------------------------------------------------------------------------------------------------------------' initialize variables include "modedefsbas" limit_left limit_right piezo VAR PORTA0 VAR PORTA1 VAR PORTA3
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SOUND PIEZO,[115,10,50,10] start: If limit_left = 1 then SOUND PIEZO,[100,10] pause 20 endif
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6 / Crocobot: Build Your Own Robotic Crocodile
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PROGRAM 61 If limit_right = 1 then SOUND PIEZO,[80,20] pause 40 SOUND PIEZO,[110,20] pause 40 endif goto start end
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crocobot-switchbas program listing (continued)
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:1000000061288F00220884002009282084138F088B :1000100003195C28F03091000E0880389000F03011 :1000200091030319910003198F0303195C28182801 :100030002B2003010C1820088E1F20088E0803199E :100040000301900F252880060C28262800000F2881 :10005000841780055C280D080C0403198C0A803075 :100060000C1A8D060C198D068C188D060D0D8C0D35 :100070008D0D5C288F018E00FF308E07031C8F07CB :10008000031C5C2803308D00DF3048203C288D01A4 :10009000E83E8C008D09FC30031C51288C070318A6 :1000A0004E288C0764008D0F4E280C1857288C1C86 :1000B0005B2800005B28080083130313831264008D :1000C0000800831603308500013086000530831256 :1000D000A2000830A00073308E000A3001203230B8 :1000E0008E000A3001206400051C80280530A20023 :1000F0000830A00064308E000A30012014303A200D :100100006400851C97280530A2000830A0005030FC :100110008E001430012028303A200530A20008302B :10012000A0006E308E001430012028303A20732851 :0401300063009828A8 :02400E00F53F7C :00000001FF
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PROGRAM 62
crocobot-switchhex file listing
Amphibionics
The next program will test the robot leg motors and will ensure that the motor connector is oriented correctly Compile motor-testbas, listed in Program 63 Program the PIC 16F84 with the motor-testhex file listed in Program 64, and then insert it into the 18-pin socket on the main board When the power is turned on, the left leg motor should rotate in a forward direction for 3 seconds, and then turn off The right leg motor should then rotate forward for 3 seconds The whole sequence will then repeat itself If either the left or right leg motors are rotating in the reverse direction during this test, then de-solder the wires connected to the offending motor, reverse them, and re-solder the connections If the first motor to run is the right motor, then unplug the motor connector (JP3), turn it around, and plug it back in The motors are controlled by first setting the L298 enable pins high on the desired channels The forward or reverse pins for each channel are then set high, depending on the direction in which you want the motor to travel If both the forward and reverse pins are set high, then the chip will perform a fast motor stop
PROGRAM 63
motor-testbas program listing
'-----------------------------------------------------------------------------------------------------------------------------' Name : motor-testbas ' Compiler : PicBasic Pro - MicroEngineering Labs ' Notes : Program to test the leg motors '-----------------------------------------------------------------------------------------------------------------------------' PortA set as outputs pins 0 and 1 inputs trisa = %00000011 ' PortB set as outputs pin 1 input trisb = %00000001 '-----------------------------------------------------------------------------------------------------------------------------' initialize variables include "modedefsbas"
6 / Crocobot: Build Your Own Robotic Crocodile
enable_right forward_right reverse_right enable_left reverse_left forward_left limit_left limit_right piezo
VAR PORTB1 VAR PORTB2 VAR PORTB3 VAR PORTB4 VAR PORTB5 VAR PORTB6 VAR PORTA0 VAR PORTA1 VAR PORTA3
PROGRAM 63
motor-testbas program listing (continued)
low enable_left low forward_left low reverse_left low enable_right low forward_right low reverse_right
SOUND PIEZO,[115,10,50,10] start: high enable_left high forward_left pause 3000 low enable_left low forward_left high enable_right high forward_right pause 3000 low enable_right low forward_right goto start end
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PROGRAM 64
motor-testhex file listing
:1000000061288F00220884002009282084138F088B :1000100003195C28F03091000E0880389000F03011 :1000200091030319910003198F0303195C28182801 :100030002B2003010C1820088E1F20088E0803199E :100040000301900F252880060C28262800000F2881 :10005000841780055C280D080C0403198C0A803075 :100060000C1A8D060C198D068C188D060D0D8C0D35 :100070008D0D5C288F018E00FF308E07031C8F07CB :10008000031C5C2803308D00DF3048203C288D01A4 :10009000E83E8C008D09FC30031C51288C070318A6 :1000A0004E288C0764008D0F4E280C1857288C1C86 :1000B0005B2800005B28080083130313831264008D :1000C0000800831603308500013086008312061273 :1000D00083160612831206138316061383128612E2 :1000E00083168612831286108316861083120611D9 :1000F000831606118312861183168611053083122A :10010000A2000830A00073308E000A300120323087 :100110008E000A3001200616831606128312061777 :100120008316061383120B308F00B8303B20061263 :10013000831606128312061383160613831286147F :1001400083168610831206158316061183120B3050 :100150008F00B8303B20861083168610831206115C :0C0160008316061183128B286300B4285C :02400E00F53F7C :00000001FF
In the next program, the robot s four basic walking subroutines will be developed The robot will walk forward, turn to the left, walk in reverse, and then turn to the right As described earlier, in order for a two-motor, four-legged robot to walk successfully, it is necessary for one set of legs to be in the forward position when the other set of legs are in motion This ensures static stability Otherwise, the robot does not get maximum body lift or forward/reverse motion with each leg cycle For example, when the crocodile robot moves in a forward direction, the microcontroller first turns on the left leg motor A small delay is introduced so that the leg has time to move past the leg position
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