Basic Stamp 2 Robot Programming - ISL

6-26 Chapter Six
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 Robot
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
‘ Define the I/O Pins
‘ Robot Interface Variables
RobotData var byte
‘ 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
When you run this application, the robot can either be connected to the PC or
not. If it is connected to the PC, then the “debug” function “Ouch” message will appear
on the PC’s screen.
In the application, you should note that the first thing I do is command the robot
to “Stop.” Despite this, the normal operations of the robot can still be commanded by