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Sleep mode, not moving Move forward Steer right, move forward Steer left, move forward Avoid mode
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Accordingly, lines 1 and 2 represent the two CdS cells and line 3, the status of the bump switch. Adding sleep mode I added a sleep mode for when the ambient light is very low. The robot moves forward when both CdS sensors receive approximately the same light intensity. The robot steers right or left when one CdS
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@@@@@@@ &&&&&&&&& %%%%%%%% ############# Team LRN
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cell receives more light than the other. If each CdS cell receives too much light or the bump switch is activated, the robot goes into avoid mode. Power Six-volt electrical power for the robot is supplied by a battery pack of four AA batteries. While I used this power supply for testing robot function, I suspect the batteries may wear out quickly.
Program
The program flowchart is shown in Fig. 8.17. Upon power-up, the drive motor is off and the microcontroller begins scanning for the brightest light source using the servo motor. If a light source is too bright, the robot jumps into avoid mode. In avoid mode the robot backs away from the light source by reversing the drive motor while steering the drive wheel left or right. If the light isn t bright enough to activate the avoid mode, the robot steers in the direction of the light and activates the drive wheel forward. If the bumper switch is activated, the robot assumes it has hit an obstacle and the robot goes into avoid mode. But if the tilt switch is not activated (no collision), the program jumps to the beginning and the process continues scanning and moving to the brightest light source. The program is written for the PICBASIC compiler that is directly programmed into a PIC16F84. The program should be able to be compiled and run with little or no modification on the PICBASIC Pro
Scan Find light source & move toward light
Avoid: Reverse motor Adjust steering 1 second Yes
Is light too right
Hit obstacle
8.17 Program flowchart
%%%%%%%% ############# Team LRN Behavioral-based robotics, neural networks, nervous nets, and subsumption architecture @@@@@@@ &&&&&&&&&
version. In-group variances in CdS sensors, drive motors, robot structure, and the like can be adjusted for or modified in the program.
Program 1
Microcontroller 1 start: high 4:low 4 b7 = 0 button 5,0,255,0,b7,1,avoid pot 7, 255, b0 pot 6, 255, b1 Check for obstacle Read CdS cell 1 Read CdS cell 2 Is it dark enough to sleep Yes Is it too bright to live Yes Light is equal; go straight Check light intensity Check light intensity Communicate to microcontroller 2 Blink LED
If b0 <= 250 then skip If b1 >= 250 then slp skip: No if b0 > 25 then skip2 if b1 < 25 then avoid skip2: No if b0 = b1 then straight if b0 > b1 then greater if b0 < b1 then lesser
straight: high 0: high 1: low 2 goto start greater: b2 = b0 b1 Check numerical difference If more than 10, turn right If not, go straight Check numerical difference If more than 10, turn left If not, go straight Communication to microcontroller 2 if b2 > 10 then rt goto straight lesser: b2 = b1 b0 if b2 > 10 then lt goto straight rt: To go straight
Turn right, send
high 0: low 1: low 2 goto start lt: Turn left, send low 0:high 1: low 2 goto start Slp:
Communication to microcontroller 2
Go asleep, send Communication to microcontroller 2
low 0: low 1: low 2 goto start avoid:
Avoid mode, send Communication to microcontroller 2 @@@@@@@ &&&&&&&&&
low 0:low 1: high 2 goto start
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%%%%%%%% ############# Team LRN
Program 2
Microcontroller 2 b4 150 Initialize servo to midposition Read communication from microcontroller 1 Mask out except first 3 bits Time to sleep Turn right Turn left Move forward Avoid mode start: peek 6, b1 let b0 if b0 if b0 if b0 if b0 if b0 slp: low 4: low 5 pulsout 3, b4 pause 18 goto start rt: high 4: low 5 Turn off motor Maintain servo motor Read microcontroller 1 Move forward Is servo at maximum right No b1 & 7 0 then slp 1 then rt 2 then lt 3 then fw 4 then avoid
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