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Command Bytes Sent Bytes Received rLocate 3, 0 bumper, infrared, line, 0, 0 rForward 6, units to move bumper, infrared, line, 0, 0 (backwards) 7, units to move bumper, infrared, line, 0, 0 rTurn (right) 12, degrees to turn bumper, infrared, line, 0, 0 (left) 13, degrees to turn bumper, infrared, line, 0, 0 rCompass 24, 0 bumper, infrared, line, degrees rLook (right) 48, 0 or angle bumper, infrared, line, color (left) 49, 0 or angle bumper, infrared, line, color rBeacon 96, Color number bumper, infrared, line, distance rRange (right) 192, 0 bumper, infrared, line, distance (left) 193, 0 bumper, infrared, line, distance rPen 129, 0, 1 for up, down bumper, infrared, line, 0, 0 rSpeed 36, speed bumper, infrared, line, 0, 0 rGPS 66, 0 x, y, 0 Note: Distance, degrees, color, x, and y are 2-byte integers (MSB first) Refer to Appendix D for more details.
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FIGURE 17.20
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Figure 17.21 shows a sample skeleton control program. It is written for the BS2 in PBASIC. Notice that the sending and receiving of the serial data is expected on pins 0 and 1 of the BS2. How this communication data arrives at these pins is immaterial. You can use Parallax s EB500 Bluetooth module to perform the communication or any other wireless transceiver or even a direct wire, if you are doing some testing and don t want to commit to a speci c transceiver. Even if you are using another controller or other hardware, this structure should help you develop an appropriate control program for your robot. Typical code has been given for several routines. All the others have been left as an exercise for the reader. Remember, the example code here is only valid for the modi ed Boe-Bot robot built in Sec. 17.2. Use this code as a guide to preparing a program for your system. The capability described above puts RobotBASIC in a class of its own. Once you have created a physical robot, and programmed it with control software that can receive and execute the 2-byte commands and return the required 5-bytes sensory data, you have a fantastic robot development system. After you develop your algorithm using the simulator as we have done throughout this text, you simply add the following line:
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to the program immediately before the rLocate statement. Then, when you run the program it will automatically connect with your real-world robot and control it with the program just used for the simulation. In general, the real-world robot should respond to objects in its environment in the same manner as the simulated robot, but this of course depends on the quality of your algorithm. Programs that perform open-loop movements (e.g., having the robot draw a triangle) may have trouble emulating the simulator s behavior exactly. If your algorithm uses sensors such as wheel encoders and a compass to control the movement commands, the robot should respond properly. Programs that utilize sensory data to control all movement should
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' {$STAMP BS2} ' {$PBASIC 2.5} '~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ '========== assign pins ReceivePin PIN 0 SendPin PIN 1 '==================Declare necessary variable SENSORS VAR Nib Direction VAR Byte T VAR Byte bData VAR Byte(2) 'Received data buffer from RobotBASIC 'byte 0 is the command code and byte 1 'is a parameter for the command. bBuffer VAR Byte(5) 'Buffer of data to be sent to RobotBASIC 'byte 0 is the bumper sensor. Byte 1 is the 'infrared sensors. Byte 2 is the line sensors. 'Byte 3 and 4 is a 16 bit integer for the data 'to be returnd as the result of some commands. 'Byte 3 is the MSB, byte 4 is the LSB. 'See RobotBASIC help for more details. '============================================================= '============================================================= Main: PAUSE 1000 'WAIT FOR the eb500 radio TO be ready DO SERIN ReceivePin,84,[STR bData\2] 'receive command and its 'parameter from RobotBASIC IF bData(0) = 3 THEN GOSUB rLocate ELSEIF bData(0) = 6 THEN Direction = 1 GOSUB rForward ELSEIF bData(0) = 7 THEN Direction = 0 GOSUB rForward ELSEIF bData(0) = 12 THEN Direction = 1 GOSUB rTurn ELSEIF bData(0) = 13 THEN Direction = 0 GOSUB rTurn ELSEIF bData(0) = 24 THEN GOSUB rCompass ELSEIF bData(0) = 48 THEN Direction = 1 GOSUB rLook ELSEIF bData(0) = 49 THEN Direction = 0 GOSUB rLook ELSEIF bData(0) = 96 THEN GOSUB rBeacon ELSEIF bData(0) = 192 THEN Direction = 1 GOSUB rRange ELSEIF bData(0) = 193 THEN Direction = 0 GOSUB rRange ELSEIF bData(0) = 129 THEN GOSUB rPen
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FIGURE 17.21 This skeleton program shows the principles required for writing a microcontroller-based program to act as a server for the RobotBASIC protocol.
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