Basic Stamp 2 Robot Programming - ISL

More documents

Recommendations

Info

6-14 Chapter Six RobotRight con 8 ‘ Turn Right for 200 msecs RobotLEDOn con 9 ‘ Turn on the Robot’s LED RobotLEDOff con 10 ‘ Turn off the Robot’s LED RobotPWM0 con 11 ‘ PWM = 0% Duty Cycle RobotPWM1 con 12 ‘ PWM = 1st “Notch” RobotPWM2 con 13 ‘ PWM = 2nd “Notch” RobotPWM3 con 14 ‘ PWM = 3rd “Notch” RobotPWM4 con 15 ‘ PWM = 100% Duty Cycle RobotPWM con 16 ‘ Return the Current PWM Value RobotState con 17 ‘ Return the Executing State RobotWhiskers con 18 ‘ Return State of the “Whiskers” ‘ Bit 0 - Left “Whisker” ‘ Bit 1 - Right “Whisker” RobotCDSL con 19 ‘ Return Value of Left CDS Cell RobotCDSR con 20 ‘ Return Value of Right CDS Cell RobotButton con 21 ‘ Return Last Remote Button ‘ Pressed ‘ 0 - No Buttons Pressed ‘ 1 - Leftmost Button Pressed ‘ 2 - Middle Button Pressed ‘ 3 - Rightmost Button Pressed ‘ After “RobotButton” Operation, ‘ Button Save in Robot is Cleared ‘ Robot Interface Pins SC con 14 SD con 15 ‘ Robot Interface Variables RobotData var byte ‘ Define the I/O Pins ‘ Data Byte to Send to/Receive ‘ from Robot ‘ Robot Operation Subroutines RobotSend ‘ Send the Byte in “RobotData” low SC ‘ Hold Low for 1 msec before pause 1 ‘ Shifting in Data shiftout SD, SC, LSBFIRST, [RobotData] high SC return RobotSendReceive ‘ Send the Byte in “RobotData” low SC ‘ Hold Low for 1 msec before pause 1 ‘ Shifting in Data shiftout SD, SC, LSBFIRST, [RobotData] pause 1 ‘ Wait for Operation to Complete shiftin SD, SC, LSBPOST, [RobotData] high SC return Experiment 1—“Hello World!” Before starting to create BS2 applications for the TAB Electronics Build Your Own Robot Kit, I want to first show you how the BS2 is programmed and how you can use the PBASIC “debug” function to feed back information to you. This applica-
Basic Stamp 2 Robot Programming 6-15 tion is a very traditional one for first-time programmers or people working with a new programming language or development system. Its purpose is to demonstrate that the programmer can implement a simple application. While you can find this application in the C:\tabrobotkit\code subdirectory, I would like to walk you through the process of creating the application on your own. I will not repeat these detailed instructions for creating an application in the later experiments, but this should act as a guide for you in creating your own applications. First, the robot should have the BS2 installed (with Pin 1 pointing toward the rear as I have discussed above), be connected to the PC, and placed on a nonconducting stand (with the wheels free to turn) as I’ve shown in Figure 6-9. With this done, turn on the robot. The LED on the robot will go on for a half second and the wheels will start to turn. Press the “Stop” button on the remote control, and leave the robot turned on. The robot is now waiting for a command from either the remote control or the BS2. As I have indicated elsewhere, the robot’s battery will power both the robot and the BS2 for a long period of time—you do not have to feel as though you are going to have to “rush” through the process of programming the robot. With the robot connected to the PC, you can now start up “stampw.” This application can be invoked from either C:\tabrobotkit\Hello World or from the desktop (after copying the icon to the desktop as I showed in the software installation instructions). “Stampw” will come up with the blank dialog box shown in Figure 6-10. Next, “open” the “template.bs2” file in C:\tabrobotkit\Template by either clicking on “File” and then “Open” or by simply pressing the “Ctrl” and “O” keys together. In either case, the “Open” dialog box shown in Figure 6-11 will come up. Click on “template” to highlight it and then click on the “Open” button. This will load the “template.bs2” file into the stampw editor. Before you change the file, you should rename it. This is done by clicking on “File” and then “Save As” (as shown in Figure 6-12). When you have done this, you will get the dialog box shown in Figure 6-13. For this example, I changed the subdirectory so that the changed file was saved in to C:\tabrobotkit\Hello World and I saved the file as “My Hello World.” Now, the “stampw” dialog box that you are working with should look like Figure 6-14. Where I have put in a comment (this is the single quote, ‘—everything to the right of this is ignored) and four “pound signs” (####), replace this with the text debug “Hello World!”, cr end ‘ Output Debug Message ‘ Nothing more to do This can be done by deleting the four pound sign line and simply putting in the two new lines of text. The “stampw” dialog box should look like Figure 6-15.
Page 1 and 2: 6 CHAPTER Basic Stamp 2 Robot Progr
Page 3 and 4: Basic Stamp 2 Robot Programming 6-3
Page 13: Basic Stamp 2 Robot Programming 6-1

Basic Stamp 2 Robot Programming - ISL

You also want an ePaper? Increase the reach of your titles

Delete template?

Save as template?