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PROGRAM 713
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sonar-mapbas program listing
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'-----------------------------------------------------------------------------------------------------------------------------' Name : sonar-mapbas ' Compiler : PicBasic Pro - MicroEngineering Labs ' Notes : Room mapping using the sonar ranger and ' : incremental shaft encoder '-----------------------------------------------------------------------------------------------------------------------------' PortA set as outputs Pin 1 input trisa = %00000010 ' PortB set as outputs pin 0 input
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7 / Turtletron: Build Your Own Robotic Turtle
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trisb = %00000001 '-----------------------------------------------------------------------------------------------------------------------------' initialize variables trigger echo piezo switch enable_right forward_right reverse_right enable_left reverse_left forward_left dist_raw dist_inch conv_inch I temp state best_pos most_space position VAR PORTA0 VAR PORTA1 VAR PORTA3 VAR PORTB0 VAR PORTB1 VAR PORTB2 VAR PORTB3 VAR PORTB4 VAR PORTB5 VAR PORTB6 VAR WORD VAR WORD CON 15 VAR BYTE VAR BYTE VAR BYTE VAR BYTE VAR BYTE VAR WORD[12]
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PROGRAM 713
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sonar-mapbas program listing (continued)
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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: ' rotate robot to the left
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Amphibionics
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PROGRAM 713
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sonar-mapbas program listing (continued)
For I = 1 to 5 state = switch while switch = state gosub turn_left wend Next I position[11] = 0 ' take 11 distance measurements and store the ' results in the distance[11] array For I = 0 to 10 gosub sr_sonar position[I] = dist_inch state = switch while switch = state gosub turn_right wend Next I ' sort the distance array to find the location ' with the most free space best_pos = 11 For I = 0 to 10 If position[I] >= position[best_pos] then best_pos = I Endif Next I most_space = 11 - best_pos ' rotate the robot so that it is pointing towards ' the area with the most free space
7 / Turtletron: Build Your Own Robotic Turtle
For I = 1 to most_space state = switch while switch = state gosub turn_left wend Next I ' ' ' ' ' Move the robot forward into the area that was determined to be the most free of obstacles Check for any obstacles while moving forward Move in reverse and then scan for area with most space if an obstacle was encountered
PROGRAM 713
sonar-mapbas program listing (continued)
For I = 1 to 24 gosub sr_sonar If dist_inch < 8 then SOUND PIEZO,[115,5,90,2,80,4,50,10] For temp = 1 to 6 state = switch while switch = state gosub backwards wend Next temp goto start Endif state = switch while switch = state gosub forward wend Next I goto start end '
Amphibionics
PROGRAM 713
sonar-mapbas program listing (continued)
' movement subroutines forward: high high high high enable_left forward_left enable_right forward_right
pause 20 low low low low enable_left forward_left enable_right forward_right
pause 20 return '-----------------------------------------------------------------------------------------------------------------------------turn_left: high high high high enable_left forward_left enable_right reverse_right
pause 5 low low low low enable_left forward_left enable_right reverse_right
pause 5
7 / Turtletron: Build Your Own Robotic Turtle
return '-----------------------------------------------------------------------------------------------------------------------------backwards: high high high high enable_left reverse_left enable_right reverse_right
PROGRAM 713
sonar-mapbas program listing (continued)
pause 20 low low low low enable_left reverse_left enable_right reverse_right
pause 10 return '-----------------------------------------------------------------------------------------------------------------------------turn_right: high high high high enable_left reverse_left enable_right forward_right
pause 5 low low low low enable_left reverse_left enable_right forward_right
Amphibionics
PROGRAM 713
sonar-mapbas program listing (continued)
pause 5 return '-----------------------------------------------------------------------------------------------------------------------------sr_sonar: pulsout trigger,1 pulsin echo,1,dist_raw dist_inch = (dist_raw/conv_inch) pause 2 return end
PROGRAM 714
sonar-maphex file listing
:10000000CB28A4008417800484138E010C1C8E005E :1000100023200319C62823200319C6282320C62815 :10002000A40059200C080D040319C628C02084130D :100030002408800664001C281D288C0A03198D0FD3 :100040001A288006C62824088E0601308C008D01EF :10005000000824050E06031D08008C0A03198D0FE5 :10006000282808008F002608840024095A208413B9 :100070008F080319C628F03091000E0880389000D0 :10008000F03091030319910003198F030319C62857 :1000900049285D2003010C1824088E1F24088E08AF :1000A00003190301900F562880063D2857280000A9 :1000B0004028FF3A84178005C6280D080C04031950 :1000C0008C0A80300C1A8D060C198D068C188D0642 :1000D0000D0D8C0D8D0DC6288F018E00FF308E0703 :1000E000031C8F07031CC62803308D00DF307A20E5 :1000F0006E288D01E83E8C008D09FC30031C83289E :100100008C07031880288C0764008D0F80280C183A :1001100089288C1C8D2800008D2808008E00033053 :1001200094288E000430942894000F080D02031DBB :100130009B280E080C02043003180130031902300A
7 / Turtletron: Build Your Own Robotic Turtle
:100140001405031DFF30C628910190011030920064 :100150000D0D900D910D0E0890020F08031C0F0F4E :1001600091020318BA280E0890070F0803180F0F02 :10017000910703108C0D8D0D920BA8280C08C62832 :100180008C098D098C0A03198D0A08008313031347 :100190008312640008008316023085000130860057 :1001A0008312061283160612831206138316061391 :1001B0008312861283168612831286108316861087 :1001C0008312061183160611831286118316861177 :1001D00005308312A6000830A40073308E000A3068 :1001E000322032308E000A3032200130C5006400E7 :1001F0000630450203180A29003006180130C700EE :10020000640047080618013C031D0829DB2100296A :10021000C50FF728BE01BF01C50164000B304502C0 :1002200003182A294A220310450D283E840040085D :100230008000840A41088000003006180130C700A1 :10024000640047080618013C031D2829252220299F :10025000C50F0D290B30C400C50164000B304502E9 :10026000031852290310450D283E840000089E0003 :10027000840A00089F000310440D283E84000008F3 :10028000A000840A0008A1001E088C001F088D0031 :1002900021088F0020089120031D50294508C40023 :1002A000C50F2D2944080B3CC6000130C500640071 :1002B00045084602031C6A29003006180130C700B1 :1002C000640047080618013C031D6829DB216029EA :1002D000C50F57290130C5006400193045020318C5 :1002E000B3294A2240088C0041088D008F01083054 :1002F0008E20031DA5290530A6000830A400733008 :100300008E00053032205A308E00023032205030BC :100310008E000430322032308E000A30322001301C :10032000C8006400073048020318A42900300618EA :100330000130C700640047080618013C031DA229CC :1003400000229A29C80F9129F5280030061801309B :10035000C700640047080618013C031DB129B621F7 :10036000A929C50F6C29F5286300B4290616831640 :100370000612831206178316061383128614831639 :1003800086108312061583160611143083126C2012 :10039000061283160612831206138316061383129F
PROGRAM 714
sonar-maphex file listing (continued)
Amphibionics
PROGRAM 714
sonar-maphex file listing (continued)
:1003A00086108316861083120611831606111430E8 :1003B00083126C2008000616831606128312061795 :1003C00083160613831286148316861083128615ED :1003D00083168611053083126C20061283160612CE :1003E0008312061383160613831286108316861053 :1003F0008312861183168611053083126C20080043 :100400000616831606128312861683168612831228 :10041000861483168610831286158316861114306F :1004200083126C200612831606128312861283161C :100430008612831286108316861083128611831605 :1004400086110A3083126C200800061683160612E5 :1004500083128616831686128312861483168610DC :100460008312061583160611053083126C200612BE :100470008316061283128612831686128312861042 :100480008316861083120611831606110530831217 :100490006C20080001308C008D0105308400013093 :1004A000102001308C0005308400023001200C083F :1004B000C2000D08C30042088C0043088D000F30B5 :1004C0008E008F01A420C0000D08C10002306C20F6 :0604D00008006300692A28 :02400E00F53F7C :00000001FF
Taking It Further
After building some or all of the biologically inspired robots in this book, you may have thought of a number of ways to improve or enhance each of the projects You may have even come up with ideas for completely new robots If that is the case, then Amphibionics has achieved its goal Listed below are some ideas to take each of the robot projects further
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