Page 284 · Robotics with the Boe-Bot
The next two lines of code implement the proportional control calculations for each
servo.
' Calculate proportional output.
pulseLeft = SetPoint - distanceLeft * Kpl + CenterPulse
pulseRight = SetPoint - distanceRight * Kpr + CenterPulse
Now that the
pulseLeft and pulseRight calculations are done, the Send_Pulse
subroutine can be called.
GOSUB Send_Pulse
The LOOP portion of the DO…LOOP sends the program back to the command immediately
following the
DO at the beginning of the main loop.
LOOP
Your Turn
Figure 8-6 shows a lead Boe-Bot followed by a shadow Boe-Bot. The lead Boe-Bot is
running a modified version of FastIrRoaming.bs2, and the shadow Boe-Bot is running
FollowingBoeBot.bs2. Proportional control makes the shadow Boe-Bot a very faithful
follower. One lead Boe-Bot can string along a chain of 6 or 7 shadow Boe-Bots. Just
add the lead Boe-Bot’s side panels and tailgate to the rest of the shadow Boe-Bots in the
chain.
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