Super Simple Beginners Robot!

Step 16 Source Code

UPDATED 2/16/09
SOURCE CODE FOR THE SONAR OPTION IN THE NEXT STEP (SPECIAL STUFF)

Follow the directions for your microcontroller and cut and paste this code into the editor. Compile and send to the robot.

The code is ultra simple but the bot avoids most obstacles it sees. It is easy to take my code and expand upon it.

'SuperSimpleBeginnersRobot
'www.instructables.com
'Ted Macy
'[e-mail]
'2/16/09
'-----------------------------------------------------------------
' Create and Setup Objects
'-----------------------------------------------------------------
Dim Servo_Right As New oServo
Dim Servo_Left As New oServo
Dim SRF04Servo As New oServo
Dim GP2D12 As oIRRange(3,8,cvOn)
Dim SRF04 As oSonarDV(8,9,cvOn)

SRF04Servo.IOLine=29 'Set the servo to use I/O Line 30.
SRF04Servo.Center=28 'Set the servos center to 28. (see manual)
SRF04Servo.Operate=cvTrue 'Last thing to do, Turn the Servo on.
Servo_Right.IOLine = 30 'Set the servo to use I/O Line 30.
Servo_Right.Center = 28 'Set the servos center to 28. (see manual)
Servo_Right.Operate =cvTrue 'Last thing to do, Turn the Servo on.
Servo_Left.IOLine = 31 'Set the servo to use I/O Line 31.
Servo_Left.Center = 28 'Set the servos center to 28. (see manual)
Servo_Left.Operate =cvTrue 'Last thing to do, Turn the Servo on.
'-----------------------------------------------------------------
' End Create and Setup Objects
' Main routine is your primary routine called upon power up!
'-----------------------------------------------------------------
Sub main()
Do
Call IR
Call Forward_All
Call SServo
Loop
End Sub
'-----------------------------------------------------------------
' End of Main routine
' Start of Drive System Subroutines
'-----------------------------------------------------------------
Sub Spin_Left()
Servo_Left.Invert=0
Servo_Left = 62
Servo_Right = 60
End Sub

Sub Spin_Right()
Servo_Right.Invert=1
Servo_Left = 62
Servo_Right = 60
End Sub

Sub Forward_All()
Servo_Right.Invert=0
Servo_Left.Invert=1
Servo_Right = 60
Servo_Left = 62
End Sub

Sub REVERSE()
Servo_Right.Invert=1
Servo_Left.Invert=0
Servo_Right = 60
Servo_Left = 62
End Sub

Sub STOP()
Servo_Left = 0
Servo_Right = 0
Call SServo
End Sub
'-----------------------------------------------------------------
' End of Drive System Subroutines
' Start of Sensor Subroutines
'-----------------------------------------------------------------
Sub SServo()
SRF04Servo.Position=15
SRF04.Operate.Pulse(1,1,250)
If SRF04.Value<128 Then
Call Spin_Right
Else Call Forward_All
End If
ooPIC.Delay=600

SRF04Servo.Position=31
SRF04.Operate.Pulse(1,1,250)
If SRF04.Value<64 Then
Call REVERSE
Else Call Forward_All
End If
ooPIC.Delay=600

SRF04Servo.Position=46
SRF04.Operate.Pulse(1,1,250)
If SRF04.Value<128 Then
Call Spin_Left
Else Call Forward_All
End If
ooPIC.Delay=600

SRF04Servo.Position=31
SRF04.Operate.Pulse(1,1,250)
If SRF04.Value<64 Then
Call REVERSE
Else Call Forward_All
End If
ooPIC.Delay=600
End Sub

Sub IR()
If GP2D12.Value<64 Then
Call STOP
End If
End Sub
'-----------------------------------------------------------------
' End of Sensor Subroutines
'-----------------------------------------------------------------

Comments

[redcars101]

How do I put the code in the robot?

[Rohit Bag]

which software should i use to write the program???

[BIGBUG]

Source Code updated for the sonar option in step 17. Contact me if you want the IR only code.