10/10/ Controlling YOUR ROBOT

10/10/2015 Basic Stamp  Basic Stamp Input - output pins Interpreter Chip Power supply: 5 Volts voltage Memory: EEPROM Clock - 20 MHz Oscillator

10/10/2015 Board of Education  Intelligent programmable controller board  accepts the Basic Stamp II controller chip

10/10/2015 Servos  Motors  Connected to your micro controller  Receives power from power source and signals from controller  Moves the wheels based on the signals received

10/10/2015 How Servos Work Power Source Ground

10/10/2015 Powering the Servo  Pulses  Electric Power  Mechanical Power high low Low: 0 volts  No power-pause High: 5 volts  Power Supplied

10/10/2015 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.

10/10/2015 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

10/10/2015 Width of Low Pulse  Pause Duration Right Wheel High Pulse Width = 1.25ms Low Pulse Width = 2seconds

10/10/2015 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 –  500 = 1ms, 1000 = 2ms Example: ‘pulsout 12, 500’ send 1ms pulses to p12

10/10/2015 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

10/10/2015 Example Program

10/10/2015 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

10/10/2015 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

10/10/2015 Moving Forward

10/10/2015 Now Your Turn  Make the robot move backwards  Make the robot stay still  Make the robot spin left  Make the robot spin right