vb.net barcode reader source code Motor Control Pins - Active High - For Dual H-Bridge Differentially Driven Robot in Software

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Motor Control Pins - Active High - For Dual H-Bridge Differentially Driven Robot
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' Variable Declarations i VAR Byte JValue VAR Byte ' ECount VAR Word ' DBounce VAR Word ' BState VAR Byte ' Mainline LOW RecLED LOW DumpLED
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LOW LeftFor ' Initialize Motor Outputs to Low LOW LeftRev LOW RightFor LOW RightRev WRITE 0, 0 ' Nothing to Start Executing DEBUG "PC Gamepad/Joystick Teaching Pendant", CR DO GOSUB ButtonOff ' Wait for Both Buttons Raised
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DBounce = 0 ' Wait for Button/2 Button Pressed BState = 0 DO WHILE (DBounce < 50) IF (ButtonA = 0) THEN IF (ButtonB = 0) THEN ' Two Buttons Pressed IF (BState = 3) THEN DBounce = DBounce + 1 ELSE BState = 3 DBounce = 0
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ENDIF ELSE ' Single Button Pressed IF (BState = 1) THEN DBounce = DBounce + 1 ELSE BState = 1 DBounce = 0 ENDIF ENDIF ELSE IF (ButtonB = 0) THEN IF (BState = 2) THEN DBounce = DBounce + 1 ELSE BState = 2 DBounce = 0 ENDIF ELSE ' Nothing Pressed BState = 0 DBounce = 0 ENDIF ENDIF LOOP SELECT (BState) CASE 1 ' Start Recording ECount = 0 GOSUB ButtonOff DEBUG "Start Recording..." HIGH RecLED DO WHILE (ButtonB = 1) AND (ECount < 1000) PAUSE 95 ' Want Roughly 100 ms between Samples JValue = (INS >> 6) & $F ' Get Value to Save WRITE ECount, JValue ECount = ECount + 1 GOSUB RobotMove LOOP WRITE ECount, 0 ' Indicate Recording is Finished DEBUG "Finished Recording.", CR LOW RecLED CASE 2 ECount = 0 GOSUB ButtonOff DEBUG "Playing Back Recorded..." HIGH DumpLED JValue = 1 DO WHILE (ButtonB = 1) AND (ECount < 1000) AND (JValue <> 0) PAUSE 95 ' Want Roughly 100 ms between Samples READ ECount, JValue ECount = ECount + 1 GOSUB RobotMove LOOP WRITE ECount, 0 ' Indicate Recording is Finished DEBUG "Finished Playing Back.", CR LOW DumpLED CASE 3 DEBUG "Dump the Program", CR i = 8 ECount = 0 ' Dump the Program READ ECount, JValue
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DO WHILE (JValue <> 0) IF (i = 8) THEN DEBUG CR, "data ", DEC4 ECount i = 0 ENDIF DEBUG ", %", BIN4 JValue ECount = ECount + 1 READ ECount, JValue i = i + 1 LOOP DEBUG CR ENDSELECT LOOP ' Loop Forever ButtonOff: ' Wait for Buttons to be Released DBounce = 0 DO WHILE (DBounce < 100) IF (ButtonA = 1) AND (ButtonB = 1) THEN DBounce = DBounce + 1 ELSE DBounce = 0 ENDIF LOOP RETURN RobotMove: ' Using "JValue", Specify Robot Movement SELECT (JValue & %1111) CASE %1101 ' Moving Forwards HIGH LeftFor LOW LeftRev HIGH RightFor LOW RightRev CASE %1001 ' Moving Forwards and to Left LOW LeftFor LOW LeftRev HIGH RightFor LOW RightRev CASE %0101 ' Moving Forwards and to Right HIGH LeftFor LOW LeftRev LOW RightFor LOW RightRev CASE %1110 ' Moving in Reverse LOW LeftFor HIGH LeftRev LOW RightFor HIGH RightRev CASE %1010 ' Moving in Reverse and to Left LOW LeftFor LOW LeftRev LOW RightFor HIGH RightRev CASE %0110 ' Moving in Reverse and to Right LOW LeftFor HIGH LeftRev LOW RightFor LOW RightRev CASE %1011 ' Turning to the Left LOW LeftFor HIGH LeftRev HIGH RightFor LOW RightRev
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CASE %0111 ' Turning to the Right HIGH LeftFor LOW LeftRev LOW RightFor HIGH RightRev CASE %1111 ' Stopped LOW LeftFor LOW LeftRev LOW RightFor LOW RightRev ENDSELECT RETURN
To operate the pendant, press the A button on the gamepad/joystick to start the recording operation. Samples of the joystick position are taken every 100 ms and recorded in the BS2 s built-in EPROM for up to 100 s (1000 samples). To stop the recording, press the B button. Using the Memory Map function of the BASIC Stamp Editor software, the program was found to take up EEPROM memory locations $474 to $7FF or 2956 bytes, leaving a maximum 1140 bytes available for recording. A total of 1000 samples and bytes was chosen to allow for some expansion of the application later. To play back the application, press the B button and the robot will perform the actions in the EEPROM memory, exactly as they were recorded. It s actually a lot of fun recording a series of motions and then watching a robot repeat them. Finally, to dump out the contents of the EEPROM, make sure the robot and BS2 are connected to a PC with the BASIC Stamp Editor software active. Start up a Debug Terminal window and press the A and B buttons simultaneously. When this is done, a series of PBASIC DATA statements are generated, which can be cut and pasted from the Debug Terminal window into an application or another program editor. These statements can be put directly into another application (and you might want to put in the RobotMove subroutine from the previous program as well) for use in it.
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