Here is the video I taped: http://www.youtube.com/watch?v=5F7eTJjFdpo
1#: I didn't write anything about moving backward...
2#: I checked my sub"drive forward" is working correctly when I input it separately...
3#：Here is the formula I made from taking the data from Sharp(Ir sensor) y=-8.8x + 238 (y=reading data) (x=distance)
(I am new to programming... can somebody actually look at it and tell me is it work correctly in my robot?) Thanks so much ...：）
Here is the code:
View attachment robot new program.bas
1#: I didn't write anything about moving backward...
2#: I checked my sub"drive forward" is working correctly when I input it separately...
3#：Here is the formula I made from taking the data from Sharp(Ir sensor) y=-8.8x + 238 (y=reading data) (x=distance)
(I am new to programming... can somebody actually look at it and tell me is it work correctly in my robot?) Thanks so much ...：）
Here is the code:
Code:
' This is the program ued to make the video on letsmakerobots.com/start. The program is optimized to make the robot look alive on video, and so it is made to stop up and look around at objects. and if it finds something close (like the camera ;) it stops and animates.
' The program is not optimized for abject avoidance or anything else like that.
' Makes a cute robot, though :) And if you made the robot just like the instructions, it should be ready to just download and run!
wait 5 ' just to give you time to put it down on the table
symbol way = bit0 ' which direction is head moving
symbol neck = b1 ' value for servo turning Sharp
symbol maxdistvalue = b2 ' max value for distance when panning
symbol maxdistvaluepos = b3 ' position where maxdistvalue is achieved
symbol dist = b4 ' Value returning from Sharp. non liniar, closer is higher, 35 is 40cm away, but from 100-150 (10 CM) it starts to count dramatically down
symbol lastturn = b5
symbol sharppin = 0
symbol servocenter = b6
symbol soundvar = b7
symbol servopin = 0
gosub lightoff
servocenter = 150
main:
servo servopin, servocenter ' look forward
gosub distance ' measure distance
if dist > 60 and dist < 80 then ' hey, something ahead, turn a little to the side we where turning last time
servocenter = 150
gosub lighton
if lastturn > 175 then
gosub driveright
inc lastturn
else
gosub driveleft
inc lastturn
end if
gosub lightoff
goto main
end if
if dist >80 and dist < 115 then ' Hey, lets have a look around
servocenter = 150
gosub totalhalt ' stop
pause 500 ' make a natural stop
gosub choser ' enter subroutine that decides where to look and stuff
goto main ' now return and see if all is OK, and we can proceed
endif
if dist >= 115 then ' danger: Something is close
servocenter = 150
gosub totalhalt ' stop
gosub hard_chose
goto main
endif
if dist < 90 then ' no danger. we can proceed
gosub driveforward ' drive forward
endif
if dist < 40 then ' Absolutely no danger. Look around while drivin
gosub driveforward
if way = 1 then
servocenter = servocenter +1 max 225
else
servocenter = servocenter -1 min 75
end if
if servocenter = 225 or servocenter = 75 then
inc way
end if
endif
goto main ' start over
choser:
maxdistvalue = 0 maxdistvaluepos = servocenter ' initialize everything
for neck = servocenter to 75 step -1
servo servopin, neck ' turn neck
pause 30 ' allow servo to turn
gosub distance ' measure distance
if dist >70 then
'pause 50 ' move hed slower on closer objects
'neck = neck - 3 min 75
end if
if dist > maxdistvalue then
maxdistvalue = dist
maxdistvaluepos = neck
end if
next neck
servo servopin, maxdistvaluepos wait 1
servo servopin, servocenter pause 50 ' turn neck
for neck = servocenter to 225 step 1
servo servopin, neck ' turn neck
pause 30 ' allow servo to turn
gosub distance ' measure distance
if dist >70 then
'pause 50 ' move hed slower on closer objects
'neck = neck + 3 max 225
end if
if dist > maxdistvalue then
maxdistvalue = dist
maxdistvaluepos = neck
end if
next neck
'********
' maxdistvaluepos is now where the closest object is
'here should be inserted: If really close, have a look, pause and move on
if maxdistvalue > 121 then
servo servopin, maxdistvaluepos
wait 2
for soundvar = 120 to maxdistvalue
sound 4, (soundvar, 1) pause 1
sound 6, (soundvar, 1) pause 1
sound 1, (soundvar, 1) pause 1
sound 1, (soundvar, 1) pause 1
next soundvar
end if
'wait 1 ' look back at the closest object
'''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''
'calculate opposite:
if maxdistvaluepos <= 150 then
neck = 150 - maxdistvaluepos
neck = neck +150
servo servopin, neck ' turn head to opposite
maxdistvaluepos = neck
pause 200
'start turning body and all
for neck = maxdistvaluepos to 150 step -1
servo servopin, neck ' turn neck while turning body
gosub driveright pause 3 lastturn = 175
next neck
dontstopturningA: ' keep turning till we are frr in front
gosub distance
if dist > 60 then goto dontstopturninga
else
maxdistvaluepos = maxdistvaluepos -150
neck = 150- maxdistvaluepos
servo servopin, neck ' turn head to opposite
maxdistvaluepos = neck
pause 200
'start turning body and all
for neck = maxdistvaluepos to 150 step 1
servo servopin, neck ' turn neck while turning body
gosub driveleft pause 3 lastturn = 0
next neck
dontstopturningB:
gosub distance
if dist > 60 then goto dontstopturningB
end if
'servo servopin, neck wait 10 ' look away from closest
return
hard_chose:
high 1
servo servopin, 75
wait 1
gosub distance
maxdistvalue = dist
servo servopin, 225
wait 1
gosub distance
servo servopin, 150
wait 1
if maxdistvalue > dist then
turnon:
gosub driveleft
gosub distance
if dist > 50 then goto turnon
else
turnoff:
gosub driveright
gosub distance
if dist > 50 then goto turnoff
end if
low 1
return
distance:
readadc sharppin, dist
return
totalhalt:
low 4 low 5 low 6 low 7
return
driveright:
'servo servopin, alltv
high 4 low 5 ' h
high 7 low 6' v
return
driveleft:
'servo servopin, allth
high 5 low 4 ' h
high 6 low 7 ' v
return
driveforward:
high 5 low 4 ' h
high 7 low 6 ' v
return
lightoff:
high 2
return
lighton:
low 2
return
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