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Timing for servo motor
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Turn right if b4 > 200 then rt1: b4 = b4 + 1 rt1: Yes Turn servo Read microcontroller 1 Move forward Is servo at maximum left 1 Yes Turn servo Read microcontroller 1 Move forward Turn servo Read microcontroller 1 Move backward Check steering, veer right Check steering, veer left Adjust timing (55 Hz) No Adjust timing (55 Hz)
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pulsout 3, b4 pause 18 goto start lt: high 4: low 5 b4 = b4 lt1: pulsout 3, b4 pause 18 goto start fw: high 4: low 5 pulsout 3, b4 pause 18 goto start avoid: low 4: high 5
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Turn left if b4 < 100 then lt1:
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Adjust timing (55 Hz)
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%%%%%%%% ############# Team LRN Behavioral-based robotics, neural networks, nervous nets, and subsumption architecture
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b5 = b4
Create servo direction Make 2-s timing loop Turn servo
for b6 = 1 to 120 pulsout 3, b5 pause 18 next b6 goto start vl: b5 = b4 + 30 Veer left Loop
Adjust timing (55 Hz)
Read microcontroller 1 Create servo direction Make 2-s timing loop Turn servo
for b6 = 1 to 120 pulsout 3, b5 pause 18 next b6 goto start Loop
Adjust timing (55 Hz)
The finished robot is shown in Fig. 8.18.
Behavior
The robot needs to function in a low-light environment, where it can clearly see a bright light source. The light level required of my robot was so low I needed to fabricate tiny sunglasses out of colored plastic to reduce the light intensity hitting the CdS photocells.
The prototype robot exhibits the following behavior. In ambient light (no bright light source) the robot travels in a straight line (or circle depending upon the last light source target). If the ambient
8.18 Front view of finished robot eight
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light is too bright, it jerks backward. With a mediocre light source, it will aim and travel toward the light. The program can be developed further to explore more interesting and exotic behaviors. Before doing so, let s first look at how the standard program functions. Program 1 for microcontroller 1 primarily checks the sensors and transmits the results to microcontroller 2. In this program you can modify the sensor sensitivity to compensate for different sensors, for instance, by using the lines
if b0 <= 250 then skip if b1 >= 250 then slp skip: No Is it dark enough to sleep Yes
The maximum reading from the sensor can be 255 (total darkness). This may be raised to increase the ambient light intensity for sleep. The brightness that triggers the avoid mode may be modified by using the following lines:
If b0 > 25 then skip2 If b1 < 25 then avoid skip2: No Is it too bright to live Yes
Increasing the numerical value, in this case 25, decreases the light intensity that puts the robot into avoid mode. Decreasing the numerical value increases the light intensity needed to throw the robot into avoid mode. In most cases you will want to decrease this number. However, I would advise not going below a numerical value of 9, because even at full light saturation of the CdS cell, its resistance never drops to zero. And in my light saturation tests the sensor never yielded a value less than 5. Tolerance between the two CdS photoresistors may be increased or decreased by modifying the numerical allowable difference in subroutines greater and lesser.
greater: b2 = b0 b1 if b2 > 10 then rt goto straight lesser: b2 = b1 b0 if b2 > 10 then lt goto straight
In addition, one could create handedness in the robot (right- or left-handed) by modifying either the greater or lesser subroutine, but not both. This will create a robot that is more likely to turn in one direction than the other. For instance, if we modified the line
%%%%%%%% ############# Team LRN Behavioral-based robotics, neural networks, nervous nets, and subsumption architecture @@@@@@@ &&&&&&&&&
if b2 > 10 then lt in the lesser subroutine to read if b2 > 15 then lt,
we would create a robot that is more likely to turn to the right.
This robot offers many opportunities to robotists and experimenters for continued experimentation and development both in hardware and software.
Parts list for the Walter tortoise robot
(1) 12 12 sheet metal, 22 or 24 gauge (1) 1 8 1 2 12 long aluminum bar (1) 42-oz torque hobby servo motor (1) 100:1 gearbox motor (or similar) 3-48 machine screws and nuts 0-80 machine screws and nuts (1) 1 8 1 2 32 long aluminum bar (1) 1 8 1 2 141 2 long aluminum bar (1) 1 8 1 2 2 long aluminum bar (1) 42-oz torque standard servo motor (1) 100:1 gearbox DC motor (1) 2 diameter drive wheel friction fit to 3-mm shaft (1) 2-mm ID, 3-mm OD steel or brass tubing (2) CdS photocells, 100K-ohm dark, 10K-ohm light [4 (Q1-Q4)] 2N2222 NPN transistors [4 (D1-D4)] 1N914 diodes (1 D5) Red LED [4 (R1-R4)] 1K-ohm, 1 4-W resistors [6 (R5-R7, R9-R11)] 10K-ohm, 1 4-W resistors [1 (R8)] 470-ohm, 1 4-W resistor (4) 22-pF caps [2 (C1,C2)] 0.1- F capacitors [2 (X1, X2)] 4-MHz crystal [1 (Q5)] 7805 voltage regulator [2 (IC1, IC2)] 16F84-04 PIC microcontroller Miscellaneous: 5-40 machine screw and nuts, plastic 6-32 1 machine screws, 6-32 brass nuts, 1 long compression springs (2 lb)
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