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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

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Controlling YOUR ROBOT

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  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

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