Download
1 / 7
70 likes | 239 Views
行李機器車. 組員 : 甘志安 曾家昱 陳盈任 吳俊輝 指導教授 : 黃慶祥教授. 程式結合紅外線發收. {$STAMP BS2p,test1,test2} ' {$PBASIC 2.5} ' 此程式只供切換 IF IN13 = 0 THEN DEBUG "run remote",CR RUN 1 ENDIF. 紅外線無接收到直走. ' {$STAMP BS2p} ' {$PBASIC 2.5} ' auto-two car go only
E N D
行李機器車 組員:甘志安 曾家昱 陳盈任 吳俊輝 指導教授:黃慶祥教授
程式結合紅外線發收 {$STAMP BS2p,test1,test2} • ' {$PBASIC 2.5} • ' 此程式只供切換 • IF IN13 = 0 THEN • DEBUG "run remote",CR • RUN 1 • ENDIF
紅外線無接收到直走 • ' {$STAMP BS2p} • ' {$PBASIC 2.5} • ' auto-two car go only • Sdat PIN 12 'PSC data • ra CON 0 'Disable PSC Speed Ramping Function • Baud CON 1021 'BaudRate 2400, BS2P use this speed to communicate with PSC • pw1 VAR Word 'left wheel • pw2 VAR Word 'right wheel • pw3 VAR Word 'left arm shoulder • pw4 VAR Word 'left arm elbow • pw5 VAR Word 'right arm shoulder • pw6 VAR Word 'right arm elbow • pw7 VAR Word 'head • set_up: • POLLIN 11,1 • POLLRUN 5 • POLLMODE 4
pw1 = 750 ' car go • pw2 = 750 ' car go • pw3 = 750 • pw4 = 750 • pw5 = 750 • pw6 = 750 • pw7 = 750 • SEROUT Sdat, Baud+$8000,["!SC", 1, ra, pw1.LOWBYTE, pw1.HIGHBYTE, CR] • SEROUT Sdat, Baud+$8000,["!SC", 2, ra, pw2.LOWBYTE, pw2.HIGHBYTE, CR] • SEROUT Sdat, Baud+$8000,["!SC", 3, ra, pw3.LOWBYTE, pw3.HIGHBYTE, CR] • SEROUT Sdat, Baud+$8000,["!SC", 4, ra, pw4.LOWBYTE, pw4.HIGHBYTE, CR] • SEROUT Sdat, Baud+$8000,["!SC", 5, ra, pw5.LOWBYTE, pw5.HIGHBYTE, CR] • SEROUT Sdat, Baud+$8000,["!SC", 6, ra, pw6.LOWBYTE, pw6.HIGHBYTE, CR] • SEROUT Sdat, Baud+$8000,["!SC", 7, ra, pw7.LOWBYTE, pw7.HIGHBYTE, CR] • DEBUG"car go begin" ,CR • DO • car_go: • DEBUG "car go",CR • pw1 = 710 • pw2 = 790 • SEROUT Sdat, Baud+$8000,["!SC", 1, ra, pw1.LOWBYTE, pw1.HIGHBYTE, CR] • SEROUT Sdat, Baud+$8000,["!SC", 2, ra, pw2.LOWBYTE, pw2.HIGHBYTE, CR] • DEBUG "car move",CR • LOOP
接收到紅外線開始追蹤程式碼 • ' {$STAMP BS2p} • ' {$PBASIC 2.5} • ' stop auto-two and • Sdat PIN 12 'PSC data • ra CON 0 'Disable PSC Speed Ramping Function • Baud CON 1021 'BaudRate 2400, BS2P use this speed to communicate with PSC • Sio PIN 15 'AP8 • T2400 CON 1021 • T38K4 CON 45 • Open CON $8000 • ABaud CON Open + T38k4 ' baud jumper out • Addr CON %11 ' both address jumpers out • a VAR Nib • ' -----[ I/O Definitions ]--------for Infrared----------------------------------------- • Enable PIN 7 ' low = reader on • RX PIN 8 ' serial from reader • LastTag CON 3 • ' -----[ Variables ]-------------- for Infrared----------------------------------------- • buf VAR Byte(10) ' Infrared bytes buffer • tagNum VAR Nib ' from EEPROM table • idx VAR Byte ' tag byte index • segment VAR Byte 'AP8 • holle VAR Byte 'AP8 • pw1 VAR Word 'left wheel • pw2 VAR Word 'right wheel • pw3 VAR Word 'left arm shoulder • pw4 VAR Word 'left arm elbow • pw5 VAR Word 'right arm shoulder • pw6 VAR Word 'right arm elbow • 'pw7 VAR Word 'head • Setup: • POLLIN 11,0 '當pin 10 為 0 時 跳回 aotu-two • POLLRUN 3 'auto-two程式為 slot 3 • POLLMODE 4 • '--------------初始值 • initial: • DEBUG "run R2 car stopand and execute Infrared" ,CR • pw1 = 750 • pw2 = 750 • pw3 = 750 • pw4 = 750 • pw5 = 750 • pw6 = 750 • 'pw7 = 750
' -----[ Initialization ]-------for Infrared ----------------------------------- • IF IN13 = 0 AND IN14 = 0 THEN • RUN 0 • ENDIF • 'DEBUG"Apw3=",DEC pw3," ","Apw4=",DEC pw4," ","Apw5=",DEC pw5," ","Apw6=",DEC pw6," ","Apw7=",DEC pw7," ","Apw=",DEC pw8 ,CR • SEROUT Sdat, Baud+$8000,["!SC", 1, ra, pw1.LOWBYTE, pw1.HIGHBYTE, CR] • SEROUT Sdat, Baud+$8000,["!SC", 2, ra, pw2.LOWBYTE, pw2.HIGHBYTE, CR] • SEROUT Sdat, Baud+$8000,["!SC", 3, ra, pw3.LOWBYTE, pw3.HIGHBYTE, CR] • SEROUT Sdat, Baud+$8000,["!SC", 4, ra, pw4.LOWBYTE, pw4.HIGHBYTE, CR] • SEROUT Sdat, Baud+$8000,["!SC", 5, ra, pw5.LOWBYTE, pw5.HIGHBYTE, CR] • SEROUT Sdat, Baud+$8000,["!SC", 6, ra, pw6.LOWBYTE, pw6.HIGHBYTE, CR] • 'SEROUT Sdat, Baud+$8000,["!SC", 7, ra, pw7.LOWBYTE, pw7.HIGHBYTE, CR] • 'SEROUT Sdat, Baud+$8000,["!SC", 8, ra, pw8.LOWBYTE, pw8.HIGHBYTE, CR] • DEBUG"STOP done" ,CR • Reset: • HIGH Enable • ' turn of Infrared reader • main: • DEBUG"looping" ,CR • DEBUG ? IN11 • '--------------------RFID • LOW Enable ' activate the reader • SERIN RX, 1021,1000,test, [WAIT($0A), STR buf\10] ' wait for hdr + ID • HIGH Enable • 'Display_Tag: • segment=2 • holle = 1 • DEBUG "Tag Identification number is: ", CR • DEBUG buf(9) ,CR • a=buf(9) • IF a=5 THEN • SEROUT Sio, ABaud, ["!AP8", Addr, "L", segment,1] • DEBUG "AP8",buf(9),CR • GOTO Setup • ENDIF • IF a=8 THEN • SEROUT Sio, ABaud, ["!AP8", Addr, "L", holle,1] • DEBUG "AP8",buf(9),CR • GOTO Setup • ENDIF • IF a < > 5 THEN • SEROUT Sio, ABaud, ["!AP8", Addr, "X", segment] • DEBUG "E", buf(9),CR • ENDIF • IF a < > 8 THEN • SEROUT Sio, ABaud, ["!AP8", Addr, "X", holle] • DEBUG "E", buf(9),CR • ENDIF • test: • DEBUG"test" • GOTO main ' repeats code
