Parallax Boe-Bot - Page 229

Chapter 6: Light Sensitive Navigation with Photoresistors · Page 215
√ Substitute your timeRight measurement with no flashlight beam in place of the
value 114 in the
RightAmbient CON directive.
√ Substitute your
timeLeft measurement with focused flashlight beam in place of
the value 20 in the
LeftBright CON directive.
√ Substitute your
timeRight measurement with focused flashlight beam in place
of the value 22 in the
RightBright CON directive.
√ Reconnect power to your board and servos.
√ Save and then run FlashlightControlledBoeBot.bs2.
√ Experiment and figure out exactly where to focus the light to get the forward,
left turn, and right turn maneuvers to execute.
√ Use the flashlight to guide your Boe-Bot through various obstacle courses and
maneuvers.
' -----[ Title ]--------------------------------------------------------------
' Robotics with the Boe-Bot - FlashlightControlledBoeBot.bs2
' Boe-Bot follows flashlight beam focused in front of it.
' {$STAMP BS2} ' Stamp directive.
' {$PBASIC 2.5} ' PBASIC directive.
DEBUG "Program Running!"
' -----[ Constants ]----------------------------------------------------------
' REPLACE THESE VALUES WITH THE VALUES YOU DETERMINED AND ENTERED INTO
' TABLE 6.1.
LeftAmbient CON 108
RightAmbient CON 114
LeftBright CON 20
RightBright CON 22
' Average Scale factor
LeftThreshold CON LeftBright + LeftAmbient / 2 * 5 / 8
RightThreshold CON RightBright + RightAmbient / 2 * 5 / 8
' -----[ Variables ]----------------------------------------------------------
' Declare variables for storing measured RC times of the
' left & right photoresistors.
timeLeft VAR Word
timeRight VAR Word
' -----[ Initialization ]-----------------------------------------------------