I have been playing with object avoidance and line following for awhile. I was intrigued by the SPO-512 speech synthesizer chip. Converting text to phonemes is not as easy as I thought. The resulting "talking" bot needs some work but it has great potential!
I used an 18m2 as the controller and the L293 as the motor driver. The little guy has a bunch of sensors including a US-100 Ultrasonic Sensor Module for front/side objects, an IR sensor to detect dropoffs, and front whisker sensors for front/close-in objects. It speaks when it encounters objects or drop offs. I tried to make it as small as possible including stacking the two ckt boards.
It does a creditable job of "breaking out" of his little jail!
The YouTube is here
The code is simple:
I would be interested in anyone who has had experience with this voice chip.
I used an 18m2 as the controller and the L293 as the motor driver. The little guy has a bunch of sensors including a US-100 Ultrasonic Sensor Module for front/side objects, an IR sensor to detect dropoffs, and front whisker sensors for front/close-in objects. It speaks when it encounters objects or drop offs. I tried to make it as small as possible including stacking the two ckt boards.
It does a creditable job of "breaking out" of his little jail!
The YouTube is here
Code:
#picaxe 18m2 'Robot 12-11-2012
setfreq m16
sound b.2, (80,15,100,15)
goto start
'b.0 -
'b.1 - servo
'b.2 - distance sensor
'b.3 - sound
'b.4 - wheel
'b.5 - wheel
'b.6 - wheel
'b.7 - wheel
'c.0 dept sensor
'c.1 - led
'c.2 -
'c.3
'c.4 -
'c.5 -
'c.6 - left whisker
'c.7 - right whisker
goto start
rv: high b.6:low b.7:high b.5:low b.4:return ' reverse
frd: low b.6:high b.7:low b.5:high b.4:return ' forward
rt: low b.6:high b.7:low b.4:high b.5:return ' right turn
lt: low b.7:high b.6:low b.5:high b.4:return ' left turn
stp: low b.6:low b.7 :low b.4: low b.5:return ' stop
'---------------------------------------------------------
Start:debug
setfreq m4
readadc c.0,b4 ' check for drop
if b4>30 then gosub drop ' chck for dropoff
if pinc.7=1 then gosub rturn ' check for blockage
if pinc.6=1 then gosub lturn ' check for blockage
readadc b.2,b5 ' check for front block
if b5>80 then gosub ck
gosub frd
goto Start
'----------------------------------------------------------
ck: ' check for blockage
gosub stp
gosub scan
'gosub wtc
if b6>b7 then gosub rturn ' determine witch way to turn
if b7>b6 then gosub lturn ' determine witch way to turn
return
rturn: ' right turn
gosub rrt
b6=0:b7=0
gosub rt
pause 4100
gosub stp
return
lturn: ' left turn
gosub lff
b6=0:b7=0
gosub lt
pause 4100
gosub stp
return
scan: ' scan for blockage in front
setfreq m4
servo b.1, 220 'head left
b10=0:for b9=1 to 5:readadc b.2, b6:b10=b10+b6:pause 10:next
b6=b10/5
pause 600
servo b.1, 141 ' head center
pause 600
servo b.1, 75 ' head right
b10=0:for b9=1 to 5:readadc b.2, b7:b10=b10+b7:pause 10:next
b7=b10/5
pause 600
servo b.1, 141 ' head center
return
drop:setfreq m4
gosub stp
gosub fal
gosub rv
pause 4000
gosub rt
pause 4800
return
'----------------------------------------------
lff:setfreq m16
high c.2:pause 10
SEROUT c.2,T9600_16,(13,13)
SEROUT c.2,T9600_16,("[V4] [PA5,PA5,PA5] go [d3] [PA5,PA5,PA5] [V7][s3]leftt",13,13)
GOSUB waitspeak
return
rrt:setfreq m16
high c.2:pause 10
SEROUT c.2,T9600_16,(13,13)
SEROUT c.2,T9600_16,("[V4] [PA5,PA5,PA5] go [d3] [PA5,PA5,PA5] [V7][s3]right",13,13)
GOSUB waitspeak
return
fal:setfreq m16
high c.2:pause 10
SEROUT c.2,T9600_16,(13,13)
SEROUT c.2,T9600_16,("[V8] [S3] [E3]stop [PA5] [PA5,PA5,PA5,PA5] [S3] [E3] stop [PA5]",13,13)
'SEROUT c.2,T9600_16,("[S3] [E3][G3]iiiam [S3] [d3][PA5,PA5,PA5,PA5]fallinggg [A2]"
GOSUB waitspeak
return
'what:
high c.2:pause 10
SEROUT c.2,T9600_16,(13,13)
SEROUT c.2,T9600_16,("[V6] [S3] [E3]what [PA5,PA5,PA5,PA5] [C3]is [PA5,PA5,PA5,PA5,PA5] thisssss ",13,13)
GOSUB waitspeak
return
'wtc:
high c.2:pause 10
SEROUT c.2,T9600_16,(13,13)
SEROUT c.2,T9600_16,("[V6] which [PA5,PA5] [s3]way [PA5,PA5] do i [PA5,PA5,PA5] go ",13,13)
GOSUB waitspeak
return
'bak:
SEROUT c.2,T9600_16,(13,13)
SEROUT c.2,T9600_16,("[V6] reeee [PA5][S3] [plup] tttreeeattttt ",13,13)
return
waitspeak:
PAUSE 200
test:
IF input4=1 THEN test
RETURN
Last edited:
