Parallax Boe-Bot - Page 97

Chapter 2: Your Boe-Bot’s Servo Motors · Page 83
' {$STAMP BS2}
' {$PBASIC 2.5}
DEBUG "Program Running!"
counter VAR Byte
FOR counter = 1 TO 100
PULSOUT 13, 850
PAUSE 20
NEXT
FOR counter = 1 TO 200
PULSOUT 12, 850
PAUSE 20
NEXT
END
Let’s say you want to run both servos, the P13 servo at a pulse width of 850 and the P12
servo at a pulse width of 650. Now, each time through the loop, it will take:
1.7ms – Servo connected to P13
1.3 ms – Servo connected to P12
20 ms – Pause duration
1.6 ms – Code overhead
--------- ------------------------------
24.6 ms – Total
If you want to run the servos for a certain amount of time, you can calculate it like this:
Number of pulses = Time s / 0.0246s = Time / 0.0246
Lets’ say we want to run the servos for 3 seconds. That’s
Number of pulses = 3 / 0.0246 = 122
Now, you can use the value 122 in the
EndValue of the FOR…NEXT loop, and it will look
like this:
FOR counter = 1 TO 122
PULSOUT 13, 850
PULSOUT 12, 650
PAUSE 20
NEXT