Page 130 · Robotics with the Boe-Bot
√ Change the
EndValue of the FOR counter from 122 to 407, so it reads like this:
' Robotics with the Boe-Bot - BoeBotForwardTenSeconds.bs2
' Make the Boe-Bot roll forward for ten seconds.
' {$STAMP BS2}
' {$PBASIC 2.5}
DEBUG "Program Running!"
counter VAR Word
FREQOUT 4, 2000, 3000 ' Signal program start/reset.
FOR counter = 1 TO 407 ' Number of pulses – run time.
PULSOUT 13, 850 ' Left servo full speed ccw.
PULSOUT 12, 650 ' Right servo full speed cw.
PAUSE 20
NEXT
END
√ Run the program, and watch closely to see if your Boe-Bot veers to the right or
left as it travels forwards for ten seconds.
Your Turn – Adjusting Servo Speed to Straighten the Boe-Bot’s Path
If your Boe-Bot goes perfectly straight, try this example anyway. If you follow the
instructions, it should adjust your Boe-Bot so that it curves slightly to the right.
Let’s say that the Boe-Bot turns slightly to the left. There are two ways to think about
this problem: either the left wheel is turning too slowly, or the right wheel is turning too
quickly. Since the Boe-Bot is already at full speed, speeding up the left wheel isn’t going
to be practical, but slowing down the right wheel should help remedy the situation.
Remember that servo speed is determined by the
PULSOUT command’s Duration
argument. The closer the
Duration is to 750, the slower the servo turns. This means
you should change the 650 in the command
PULSOUT 12,650 to something a little closer
to 750. If the Boe-Bot is only just a little off course, maybe
PULSOUT 12,663 will do the
trick. If the servos are severely mismatched, maybe it needs to be
PULSOUT 12,690.
To Next Page
Loading...
Need help?
General