1. Programming Boe-Bots (Part 1)
Slides taken from: WAM tutorial, and course material developed by Dean Brock and Tammy Gammon

2. Module Components
Serial Signal Conditioning Conditions voltage signals between PC serial connection (+/- 12V) and BASIC Stamp (5V) for
Programming.
5V Regulator Regulates voltage to 5V with a supply of 5.5VDC to 15VDC
EEPROM Stores the tokenized PBASIC program.
Resonator Sets the speed at which instructions are processed.
Interpreter Chip Reads the BASIC program from the EEPROM and executes the instructions.

3. Module Pins Regulated 5V.
Pin 1: SOUT
Transmits serial data during programming and using the DEBUG instruction
Pin 24: VIN
Un-regulated input voltage
(5.5-15V)
Pin 23: VSS
Ground (0V)
Pin 2: SIN
Receives serial data during programming
Pin 22: RES
Reset- LOW to reset
Pin 3: ATN
Uses the serial DTR line to gain the Stamps attention for programming.
Pin 21: VDD
Regulated 5V. P0
P15
Pins 5-20: Input/Output (I/O) pins P0 through P15 P1
P14
Pin 4: VSS
Communications Ground (0V). P2
P13 P3
P12 P4
P11 P5
P10 P6 P9 P7 P8

4. The Board of Education makes it easy to connect devices, power up and program.
5V regulator
Battery
Servo
Connections
Wall DC Supply
Power Header
Power On Light
I/O Header
Breadboard
Serial Programming Port
Reset Switch
Off/Module Power/Servo Power

5. A Simple Program Enter your first program into the BASIC Stamp Editor.
Notice that different code appears in different colors. This is a great help in writing correct code!

6. 'Running' Your Program
Download, or Run your program by clicking the Run button.
The DEBUG Window should appear showing your message.

7. How a Program is Placed on the Module
A program is written in the BASIC Stamp Editor.
The program is tokenized, or converted into symbolic format.
Tokenizer
The tokenized program is transmitted through the serial cable and stored in EEPROM memory.
The Interpreter Chip reads the program from EEPROM and executes the instructions.

8. Directives
Directives are special instructions to the Editor ensuring the the code is tokenized for the correct PBASIC version and for the correct BASIC Stamp.
When starting a new program, be sure to click the buttons to add these directives to your program.

9. Hello, it's me, your BASIC Stamp!
DEBUG Window
When a program contains a DEBUG command, the Editor opens the DEBUG Window.
Hello, it's me, your BASIC Stamp!
Data is sent back through the serial cable as characters to be viewed. This data is sent very quickly!
The RESET button on board will start the program on your Stamp again.

10. Getting Help

11. Program like you are an engineer
Organize and structure your code.
Use indentation to clarify organization.
Indent loops and code skipped by if’s
Use white space wisely.
Follow a consistent style and format.
Use comments to explain your code.
input 14 ‘push button – normal timing
Use variable and loop names which clarify purpose.

12. The Program Header Identify the code. Briefly state purpose of code.
Your name
Project Title
Date
Title/file of code
Briefly state purpose of code.

13. Good Program Structure
Header
Define the constants
green con 0
“Declare” the pins
input ‘push button for normal timing
output green ‘green LED
Declare and comment your variables
n var byte ‘index for varying blink rate

14. I/O Pin “Language” input 14 ‘normal mode pushbutton if in14 then ……
output ‘green led
out0 = 0
pause 500
out0 = 1
You don’t even have to declare output:
low green
pause
high green

15. Declaring & Assigning Variables
A variable & its size must be declared:
normal var bit ‘allocates 1 bit (0 or 1)
x var nib ‘nibble, 4 bits (0 – 15)
y var byte ‘byte, 8 bits (0 – 255)
counter var word ‘16 bits (0 – 65,535)
Variables contain values which can be changed. Examples:
normal = in14
normal = ~normal
counter = counter + 1

16. If …. then Function
Arithmetic and logical operators may be used in the test condition.
A bit of code…
if in14 = 0 then normal_mode
if in14 = 0 and in7 = 0 then non_resp
Why wouldn’t you want to list if…then statements as shown?

17. For….next Iterative loop Example to create varying pause times:
x var nib
for x = 1 to 10 …
pause * x
next

18. Of course, we must mention…
goto label ‘creates continuous loop
‘or skips to another part of program
And all happily ever-afters finish with a “the end” or just END in PBASIC.

19. Sensors
A microcontroller-controlled system changes its outputs according to its input signals
A sensor is an input device used to detect or measure.
Example: push-button

20. Push-Button Sensor
OPEN
(Not pressed)
CLOSED
(Pressed)

21. Push-Button Sensor

22. Sample Code input 2 ‘push button recheck: if in2 = 0 then blink
goto recheck
blink:
…make some led blink