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If switch = 0 then SOUND piezo,[80,5,110,5,50,10,120,2] while switch = 0 wend endif goto start
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:100000003F288F00220884002009282084138F08AD :1000100003193A28F03091000E0880389000F03033 :1000200091030319910003198F0303193A28182823 :100030002B2003010C1820088E1F20088E0803199E :100040000301900F252880060C28262800000F2881 :10005000841780053A280D080C0403198C0A803097 :100060000C1A8D060C198D068C188D060D0D8C0D35 :100070008D0D3A288313031383126400080083163E :100080008501013086008312061283160612831240 :1000900006138316061383128612831686128312A2 :1000A000861083168610831206118316061183129A :1000B00086118316861105308312A2000830A00035 :1000C00073308E000A30012032308E000A30012059 :1000D0006400061883280530A2000830A0005030C4 :1000E0008E00053001206E308E0005300120323048 :1000F0008E000A30012078308E000230012064002A :08010000061883287F286828F7 :02400E00F53F7C :00000001FF
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The robot now has the ability to keep track of how far the left wheel has traveled using the incremental shaft encoder This will be necessary when the robot is mapping an area before it starts to move In previous programs where the robot used the sonar ranger, it avoided obstacles in a reactionary way because it did not have an internal representation of the outside world It wandered
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around the room until distance readings from the sonar module alerted the robot that an evasive maneuver was needed to avoid crashing into an obstacle To improve this situation, the robot will need to create a rudimentary map of the area surrounding its current position A robot s ability to create an internal representation of the external world can be thought of as the first measure of machine intelligence, and is a necessary evolutionary step to self awareness and consciousness The final program in this chapter will take advantage of the optical shaft encoder and the ultrasonic range finder to give the robot the ability to map the area around itself and store the results internally Based on this information, the robot can then make an intelligent decision about where to move This is accomplished by having the robot take a series of distance measurements in a 180-degree arc to the front and sides of its current location From where the robot is facing, it will rotate 90 degrees to the left and then start taking distance measurements as it rotates back in the opposite direction for 180 degrees The distance measurements are stored in a one-dimensional array called position, made up of 12 elements To make sure that the robot is consistently moving the same distance for each sonar measurement taken, the output from the optical encoder circuit is used The motor control algorithm works by first reading the current state of the sensor The initial state of the sensor doesn t matter; we are concerned with when the sensor changes from its current state, indicating that the wheel has moved 1/12 of a complete rotation Using this method makes motor control and wheel tracking uncomplicated The program takes the current state of the sensor and stores it in a variable The motor is then moved by a very small amount, and the stored sensor state is then compared to the current state If the two states are the same, then the motor is moved again by a small amount This continues until the sensor has changed from its original state, at which time the motor is
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stopped and the next sonar distance reading is taken This indicates that the motor has moved the wheel by 1/12 of a complete rotation When all of the sonar distance measurements have been taken, a sorting algorithm determines which position contains the distance measurement with the highest value The robot is then rotated back to the position with the greatest amount of free space, and then moves forward to map out the surrounding area If an obstacle is encountered while moving forward, the robot backs up and makes another map to determine the best route to take Compile sonar-mapbas, listed in Program 713, and then program the PIC 16F84 with the corresponding sonar-maphex file, listed in Program 714 I find this final experiment to be a lot of fun because of the speed at which the robot scans the area while making maps, and how fast it can travel through a room It is very surprising to see how well the robot can maneuver through rooms and consistently pick the areas with the most free space To develop robotic room mapping further, write a program that stores the distance readings in a two-dimensional array This way the robot would be able to quickly backtrack without having to take sonar readings for an area that it has already explored
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