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7 / Turtletron: Build Your Own Robotic Turtle
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gosub turn_right endif endif gosub forward goto start '-----------------------------------------------------------------------------------------------------------------------------' movement subroutines forward: high high high high enable_left forward_left enable_right forward_right
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PROGRAM 77
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avoidancebas program listing (continued)
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pause 50 low low low low return '-----------------------------------------------------------------------------------------------------------------------------turn_left: high high high high enable_left forward_left enable_right reverse_right enable_left forward_left enable_right forward_right
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low forward_left low enable_right low reverse_right return '-----------------------------------------------------------------------------------------------------------------------------backwards: SOUND PIEZO,[115,5,90,2,80,4,50,10] high high high high enable_left reverse_left enable_right reverse_right
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pause 300 low low low low return '-----------------------------------------------------------------------------------------------------------------------------turn_right: high high high high enable_left reverse_left enable_right forward_right enable_left reverse_left enable_right reverse_right
pause 600 low enable_left
7 / Turtletron: Build Your Own Robotic Turtle
low reverse_left low enable_right low forward_right return '-----------------------------------------------------------------------------------------------------------------------------sr_sonar: pulsout trigger,1 pulsin echo,1,dist_raw dist_inch = (dist_raw/conv_inch) pause 10 return end
PROGRAM 77
avoidancebas program listing (continued)
:10000000C828A0008417800484138E010C1C8E0065 :1000100023200319C32823200319C3282320C3281E :10002000A00059200C080D040319C328BD20841317 :100030002008800664001C281D288C0A03198D0FD7 :100040001A288006C32820088E0601308C008D01F6 :10005000000820050E06031D08008C0A03198D0FE9 :10006000282808008F002208840020095A208413C1 :100070008F080319C328F03091000E0880389000D3 :10008000F03091030319910003198F030319C3285A :1000900049285D2003010C1820088E1F20088E08B7 :1000A00003190301900F562880063D2857280000A9 :1000B0004028FF3A84178005C3280D080C04031953 :1000C0008C0A80300C1A8D060C198D068C188D0642 :1000D0000D0D8C0D8D0DC3288F018E00FF308E0706 :1000E000031C8F07031CC32803308D00DF307A20E8 :1000F0006E288D01E83E8C008D09FC30031C83289E :100100008C07031880288C0764008D0F80280C183A :1001100089288C1C8D2800008D2808008E00033053
PROGRAM 78
avoidancehex file listing
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PROGRAM 78
avoidancehex file listing (continued)
:10012000912894000F080D02031D98280E080C0258 :10013000043003180130031902301405031DFF3089 :10014000C32891019001103092000D0D900D910D7A :100150000E0890020F08031C0F0F91020318B72816 :100160000E0890070F0803180F0F910703108C0D4E :100170008D0D920BA5280C08C3288C098D098C0ABB :1001800003198D0A08008313031383126400080007 :100190008316033085000130860083120612831611 :1001A0000612831206138316061383128612831611 :1001B0008612831286108316861083120611831608 :1001C0000611831286118316861105308312A20050 :1001D0000830A00073308E000A30322032308E009A :1001E0000A303220A801AD2124088C0025088D009A :1001F0008F010C308E20031D0529A80A4F216400B1 :10020000281C04292A21052988210721F3280616FC :10021000831606128312061783160613831286149A :100220008316861083120615831606113230831248 :100230006C20061283160612831206138316061309 :1002400083128610831686108312061183160611F8 :1002500083120800061683160612831206178316E9 :10026000061383128614831686108312861583164E :100270008611831201308F002C306D2006128316F8 :100280000612831206138316061383128610831632 :10029000861083128611831686118312080005309A :1002A000A2000830A00073308E00053032205A3092 :1002B0008E000230322050308E0004303220323036 :1002C0008E000A3032200616831606128312861616 :1002D000831686128312861483168610831286155F :1002E00083168611831201308F002C306D20061288 :1002F00083160612831286128316861283128610C4 :1003000083168610831286118316861183120800C5 :100310000616831606128312861683168612831219 :10032000861483168610831206158316061183120F :1003300002308F0058306D20061283160612831289 :1003400086128316861283128610831686108312F5 :100350000611831606118312080001308C008D01EE :10036000053084000130102001308C0005308400FD :10037000023001200C08A6000D08A70026088C00FA
7 / Turtletron: Build Your Own Robotic Turtle
:1003800027088D000F308E008F01A120A4000D08DA :0C039000A5000A306C2008006300CC2996 :02400E00F53F7C :00000001FF
PROGRAM 78
avoidancehex file listing (continued)
Now that radio remote control and sonar obstacle avoidance has been covered, a program will be written to incorporate both An operator will determine the robot movements, via the remote control Based on distance measurements taken from the sonar module, the microcontroller will inhibit movement if the robot is in danger of crashing into an obstacle Since the sonar is mounted to the front of the robot, this will help protect the device Compile the program called remote-sonarbas, listed in Program 79 Program the PIC 16F84 with the corresponding remote-sonarhex file, listed in Program 710 This kind of human/machine interaction is valuable in situations where a robot is operated over large distances (teleoperated) Because the complexity of machines has increased, it is impossible for humans to control all of the small aspects of robotic behavior With teleoperated robotics, the human gives basic control commands and the robot carries out the tasks all on its own Another problem with controlling machines over large distances, because of slow radio signals, is that time delays are introduced between the human control commands and the robot s actions If a human operator makes a mistake, the robot will compensate to avoid a catastrophic failure
'-----------------------------------------------------------------------------------------------------------------------------' Name : remote-sonarbas ' Compiler : PicBasic Pro - MicroEngineering Labs ' Notes : Remote control with sonar avoidance '-----------------------------------------------------------------------------------------------------------------------------' PortA set as outputs Pin 1 input trisa = %00000010 319 PROGRAM 79
remote-sonarbas program listing
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PROGRAM 79
remote-sonarbas program listing (continued)
' PortB set as outputs pin 0 input trisb = %00000001 '-----------------------------------------------------------------------------------------------------------------------------' initialize variables include "modedefsbas" rx_baud CON N2400 rxmit VAR PORTB0 enable_right VAR PORTB1 forward_right VAR PORTB2 reverse_right VAR PORTB3 enable_left VAR PORTB4 reverse_left VAR PORTB5 forward_left VAR PORTB6 trigger VAR PORTA0 echo VAR PORTA1 piezo VAR PORTA3 control VAR BYTE temp VAR BYTE dist_raw VAR WORD dist_inch VAR WORD conv_inch CON 15 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: serin rxmit,rx_baud,["Z"],control
7 / Turtletron: Build Your Own Robotic Turtle
PROGRAM 79 if control = "A" then gosub sr_sonar if dist_inch < 8 then start gosub forward endif if control = "B" then gosub backwards endif if control = "C" then gosub turn_left endif if control = "D" then gosub turn_right endif if control = "E" then sound piezo,[115,10,50,10] endif if control = "F" then low enable_left low forward_left low reverse_left low enable_right low forward_right low reverse_right endif goto start '-----------------------------------------------------------------------------------------------------------------------------' movement subroutines forward:
remote-sonarbas program listing (continued)
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PROGRAM 79
remote-sonarbas program listing (continued)
high high high high
enable_left forward_left enable_right forward_right
pause 500 low low low low return '-----------------------------------------------------------------------------------------------------------------------------turn_left: high high high high return '-----------------------------------------------------------------------------------------------------------------------------backwards: high high high high return '-----------------------------------------------------------------------------------------------------------------------------enable_left reverse_left enable_right reverse_right enable_left forward_left enable_right reverse_right enable_left forward_left enable_right forward_right
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