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7 / Turtletron: Build Your Own Robotic Turtle
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goto start ' ' movement subroutines forward: high enable_left high forward_left high enable_right high forward_right return '-----------------------------------------------------------------------------------------------------------------------------turn_left: high enable_left high forward_left high enable_right high reverse_right return '-----------------------------------------------------------------------------------------------------------------------------backwards: high enable_left high reverse_left high enable_right high reverse_right return
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turtle-receivebas listing (continued)
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'-----------------------------------------------------------------------------------------------------------------------------turn_right: high enable_left high reverse_left high enable_right high forward_right return end
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:10000000922864001120031801281C2008308F005A :100010001D2011208E0C0C288F0B08281D200E0887 :100020000800220884002008841780048413000537 :100030001F192006FF3E08001F171F0D06398C00F0 :100040002B208D008C0A2B201F1F71281F138C0062 :1000500002308820712800308A000C0882070134A1 :1000600075340334153400343C340C34D9348F00E7 :100070002208840020095E2084138F0803198D282C :10008000F03091000E0880389000F0309103031991 :10009000910003198F0303198D284E286120030155 :1000A0000C1820088E1F20088E0803190301900FDA :1000B0005B28800642285C280000452884178005BC :1000C0008D280D080C0403198C0A80300C1A8D063B :1000D0000C198D068C188D060D0D8C0D8D0D8D282F :1000E0008D01E83E8C008D09FC30031C7A288C07BA :1000F000031877288C0764008D0F77280C18802848 :100100008C1C842800008428080003108D0C8C0CA3 :10011000FF3E031885280C088D28831303138312D0 :1001200064000800831603308500013086008312C6 :100130000612831606128312061383160613831201 :1001400086128316861283128610831686108312F7 :100150000611831606118312861183168611053047 :100160008312A2000830A00073308E000A303720BE :1001700032308E000A3037200630A2000130A00055
7 / Turtletron: Build Your Own Robotic Turtle
:1001800004309F0001205A3C031DC2280120A40016 :1001900064002408413C031DCE280F21640024087C :1001A000423C031DD428312164002408433C031D34 :1001B000DA28202164002408443C031DE028422161 :1001C00064002408453C031DF1280530A2000830D6 :1001D000A00073308E000A30372032308E000A3093 :1001E000372064002408463C031D0E29061283169E :1001F00006128312061383160613831286128316C1 :1002000086128312861083168610831206118316B7 :10021000061183128611831686118312BC280616D6 :10022000831606128312061783160613831286148A :100230008316861083120615831606118312080092 :1002400006168316061283120617831606138312E8 :1002500086148316861083128615831686118312E0 :100260000800061683160612831286168316861257 :1002700083128614831686108312861583168611C0 :10028000831208000616831606128312861683163A :10029000861283128614831686108312061583161F :0A02A00006118312080063005329C1 :02400E00F53F7C :00000001FF '-----------------------------------------------------------------------------------------------------------------------------' Name : turtle-transbas ' Compiler : PicBasic Pro - MicroEngineering Labs ' Notes : Robot control using the Linx 433LC series ' : transmitter and receiver ' : Using on-chip analog to digital converters ' : of the PIC 16C71 to read the position of ' : the two control stick potentiometers '-----------------------------------------------------------------------------------------------------------------------------' set PortA inputs trisa = %00011111 ' PortB set as outputs Pin 2 input
PROGRAM 72
turtle-receivehex file listing (continued)
PROGRAM 73
turtle-transbas listing
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PROGRAM 73
turtle-transbas listing (continued)
trisb = %00000100 '-----------------------------------------------------------------------------------------------------------------------------' initialize variables include "modedefsbas" tx_baud pot_y pot_x txmit txmit_led push_button val_y val_x CON N2400 VAR PORTA0 VAR PORTA1 VAR PORTB0 VAR PORTB1 VAR PORTB2 VAR BYTE VAR BYTE
'-----------------------------------------------------------------------------------------------------------------------------' Set up the analog to digital converters DEFINE ADC_BITS 8 ' Set number of bits in result DEFINE ADC_CLOCK 3 ' Set clock source (rc = 3) DEFINE ADC_SAMPLEUS 10 ' Set sampling time in microseconds ADCON1 = 2 ' Set porta pins 0 and 1 to analog start: low txmit_led ADCIN 0,val_y ADCIN 1,val_x ' read A/D converter - portapin 0 ' read A/D converter - portapin 1
If val_y < 20 then high txmit_led serout txmit,tx_baud,["ZA"] endif If val_y > 200 then high txmit_led
7 / Turtletron: Build Your Own Robotic Turtle
serout txmit,tx_baud,["ZB"] endif If val_X < 20 then high txmit_led serout txmit,tx_baud,["ZC"] endif If val_X > 200 then high txmit_led serout txmit,tx_baud,["ZD"] endif If push_button = 1 then high txmit_led serout txmit,tx_baud,["ZE"] endif If ((val_y > 25) and (val_y < 190)) or ((val_x > 25) and (val_x < 190)) then serout txmit,tx_baud,["ZF"] endif goto start end
PROGRAM 73
turtle-transbas listing (continued)
:100000008C2892002A0884000930930003100D20E8 :10001000920C930B072803140D288413A71D1C288A :1000200000082804271D28068000841700082804DB :10003000031C28068000272800082804031C280623 :100040002719280680008417280980052728270DEE :1000500006398C0030208D008C0A302000004E289C :1000600000308A000C0882070134753403341534DB :1000700000343C340C34D9348C008C0D8C0D0C0DB8 :100080003839C138880000308D000A304E200815FC :10009000081948288D01090887288D01E83E8C0041 :1000A0008D09FC30031C57288C07031854288C0733
PROGRAM 74
turtle-transhex file listing
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PROGRAM 74
turtle-transhex file listing (continued)
:1000B00064008D0F54280C185D288C1C61280000EA :1000C000612808008D018F018E0001306C288D01A0 :1000D0008F018E0004306C2894000F080D02031D60 :1000E00073280E080C020430031801300319023083 :1000F0001405031DFF3087280038031DFF30040559 :10010000031DFF3087280404031DFF308728831355 :10011000031383126400080083161F308500043027 :100120008600023088008312861083168610003005 :1001300083123C20AD0001303C20AC006400143040 :100140002D020318B12886148316861006308312F8 :10015000AA000130A8000430A7005A300120413025 :1001600001206400C9302D02031CC42886148316A4 :10017000861006308312AA000130A8000430A700C0 :100180005A30012042300120640014302C02031840 :10019000D72886148316861006308312AA000130F1 :1001A000A8000430A7005A30012043300120640029 :1001B000C9302C02031CEA288614831686100630E8 :1001C0008312AA000130A8000430A7005A30012091 :1001D000443001206400061DFB2886148316861017 :1001E00006308312AA000130A8000430A7005A305C :1001F0000120453001202D088C00193062209E001E :100200002D088C00BE306720A0001E088400200846 :100210007C20A000A1002C088C0019306220A200D4 :100220002C088C00BE306720A4002208840024081B :100230007C20A400A50020082104840024082504B3 :100240008320A400A5006400240825040319322992 :100250000630AA000130A8000430A7005A3001205F :0602600046300120942845 :02400E00FD3F74 :00000001FF
Testing the SRF04 Ultrasonic Ranger
As described previously, the ranger works by emitting a short burst of sound and then listening for the echo Under the control of the PICmicro MCU 16F84, the SRF04 will emit an ultrasonic (40 kHz) sound pulse The pulse travels through the air, hits an object, and
7 / Turtletron: Build Your Own Robotic Turtle
then bounces back Since we know that sound travels through air at approximately 1129 feet per second when the temperature is 21 degrees Celsius, we can accurately determine distance by measuring the amount of time between the transmission of the pulse and the return echo When the temperature drops, the speed of sound through air slows down If a temperature sensor was added, an algorithm to determine distance based on the speed of sound through air could take the surrounding temperature into account and adjust for differences The PicBasic Pro command called PULSIN returns the round trip echo time in 10 s units when using a 4-MHz oscillator Since the pulse width has a 10 s resolution per increment, that means that if PULSIN returns a value of 1, then 10 s have elapsed The factors to convert the raw data to inches and centimeters given in the SRF04 manual are 74 for inches (73746 s per 1 inch) and 29 for centimeters (29033 s per 1 cm) based on the Basic Stamps PULSIN command returning values in 2 s increments In the SRF04 manual, the calculation to determine the distance is not divided in half to take into account the return time of the pulse because the sample program is for the Basic Stamp II, which returns PULSIN values in 2 s increments Because the PULSIN command with PicBasic Pro is returning values in increments of 10 s, the conversion factor will need to be divided by 5, so that we get the correct value based on our 10 s increment Taking the PULSIN increment timing difference into account gives us an approximate conversion factor of 15 for inches and 6 for centimeters Testing with the ranger indicated that the raw value returned by PULSIN when an object was 12 inches away was 180 One hundred and eighty divided by the inch conversion factor of 15 gives us the correct distance of 12 inches In order to test the SRF04 sonar ranger, a program will be written to produce audible tones, based on the distance of an object from the device Compile the sonar-testbas code listed in Program 75,
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