1. Controlling YOUR ROBOT
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2. 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
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3. Board of Education Intelligent programmable controller board
accepts the Basic Stamp II controller chip
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4. Servos Motors Connected to your micro controller
Receives power from power source and signals from controller
Moves the wheels based on the signals received
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5. How Servos Work
Power Source
Ground
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6. Powering the Servo Pulses  Electric Power  Mechanical Power high low
Low: 0 volts  No power-pause
High: 5 volts  Power Supplied
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7. 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.
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8. 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
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9. Low Pulse Width = 2seconds
Width of Low Pulse
Pause Duration
Right Wheel
High Pulse Width = 1.25ms
Low Pulse Width = 2seconds
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10. 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
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11. 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
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12. Example Program
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13. 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
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14. 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
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15. Moving Forward
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16. Now Your Turn Make the robot move backwards Make the robot stay still
Make the robot spin left
Make the robot spin right
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