Controlling YOUR ROBOT 11/28/2018 1
Power supply: 5 Volts voltage Basic Stamp Basic Stamp Input - output pins Memory: EEPROM Clock - 20 MHz Oscillator Interpreter Chip Power supply: 5 Volts voltage 11/28/2018
Board of Education Intelligent programmable controller board accepts the Basic Stamp II controller chip 11/28/2018
Servos Motors Connected to your micro controller Receives power from power source and signals from controller Moves the wheels based on the signals received 11/28/2018
How Servos Work Power Source Ground 11/28/2018
Powering the Servo Pulses Electric Power Mechanical Power high low Low: 0 volts No power-pause High: 5 volts Power Supplied 11/28/2018
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. 11/28/2018
Width of High Pulse Direction of movement Range: Full Speed: 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 11/28/2018
Low Pulse Width = 2seconds Width of Low Pulse Pause Duration Right Wheel High Pulse Width = 1.25ms Low Pulse Width = 2seconds 11/28/2018
Commands Reset (to low pulse) Set high pulse width ‘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 11/28/2018
Commands Pause Loops ‘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 11/28/2018
Example Program 11/28/2018
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 11/28/2018
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 11/28/2018
Moving Forward 11/28/2018
Now Your Turn Make the robot move backwards Make the robot stay still Make the robot spin left Make the robot spin right 11/28/2018