1 / 16

Controlling YOUR ROBOT

Controlling YOUR ROBOT. Basic Stamp. Input - output pins. Memory: EEPROM. Clock - 20 MHz Oscillator. Interpreter Chip. Basic Stamp. Power supply: 5 Volts voltage. Board of Education. Intelligent programmable controller board accepts the Basic Stamp II controller chip . Servos. Motors

adelie
Download Presentation

Controlling YOUR ROBOT

An Image/Link below is provided (as is) to download presentation Download Policy: Content on the Website is provided to you AS IS for your information and personal use and may not be sold / licensed / shared on other websites without getting consent from its author. Content is provided to you AS IS for your information and personal use only. Download presentation by click this link. While downloading, if for some reason you are not able to download a presentation, the publisher may have deleted the file from their server. During download, if you can't get a presentation, the file might be deleted by the publisher.

E N D

Presentation Transcript

  1. Controlling YOUR ROBOT 1

  2. Basic Stamp Input - output pins Memory: EEPROM Clock - 20 MHz Oscillator Interpreter Chip • Basic Stamp Power supply: 5 Volts voltage

  3. Board of Education • Intelligent programmable controller board • accepts the Basic Stamp II controller chip

  4. Servos • Motors • Connected to your micro controller • Receives power from power source and signals from controller • Moves the wheels based on the signals received

  5. How Servos Work Power Source Ground

  6. Powering the Servo high low • Pulses  Electric Power  Mechanical Power Low: 0 volts  No power-pause High: 5 volts  Power Supplied

  7. Width of High Pulse • Pulse Timings • Pulses are sent to the servos in terms of milliseconds • 1 ms high times and 20 ms low time. The high time tells the servos what to do.

  8. Width of High Pulse • Direction of movement • Range: • 1ms – 2ms. • Full Speed: • 1ms: clockwise. Forward for right wheel and backwards for left wheel. • 2ms: anticlockwise. Backwards for right wheel and forward for left wheel. • Partial Speeds: • 1.1ms – 1.4ms: clockwise. Forward for right wheel and backwards for left wheel. • 1.6ms – 1.9ms: anticlockwise. Backwards for right wheel and forward for left wheel. • Full Stop • 1.5ms

  9. Width of Low Pulse • Pause Duration Right Wheel High Pulse Width = 1.25ms Low Pulse Width = 2seconds

  10. Commands • Reset (to low pulse) • ‘low port#’ • Example: ‘low 12’ sets p12 to output low • Compulsory at the beginning of every program • Set high pulse width • ‘pulsout port#, value’ • Values range from 500 – 1000. • 500 = 1ms, 1000 = 2ms • Example: ‘pulsout 12, 500’ send 1ms pulses to p12

  11. Commands • Pause • ‘pause time (ms)’ • Example: ‘pause 20’ waits for 20ms after each full wheel spin • Loops • ‘goto loop name ’ • Starts from the command line after loop • Example: ‘goto loop’ looks for the ‘loop:’ in the program and repeats the commands from that point

  12. Example Program

  13. Running the Program • Name the program descriptively and save it • Click the file menu • Select save (or save as) • Type in the file name and make sure the file type is *.bs2 • Run the Program • Click ‘Run’ • Select Run’ • Make sure the wheel is turning as commanded

  14. Now Your Turn • Make the right wheel turn counterclockwise • Make the left wheel turn clockwise • Make the left wheel turn counterclockwise • Make the robot move forward - both wheels turn clockwise

  15. Moving Forward

  16. Now Your Turn • Make the robot move backwards • Make the robot stay still • Make the robot spin left • Make the robot spin right

More Related