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Source code for Srf05 and picaxe 28x1

is this the correct way to adapt the source code of fritsl's "how to make yfr" for a srf05 sensor? ... i suppose not -_- .. T_T .. can you help me fritsl? :p 

 

 

 

Symbol dangerlevel = 50 ' how far away should thing be, before we react?
symbol turn = 300 ' this sets how much should be turned
symbol servo_turn = 700 ' This sets for how long time we should wait for the servo to turn (depending on it´s speed) before we measure distance
symbol trig = 3 ‘ Define output pin for Trigger pulse
symbol echo = 6 ‘ Define input pin for Echo pulse
symbol range = w1 ‘ 16 bit word variable for range

main: ' the main loop
pulsout trig,2 ‘ produce 20uS trigger pulse (must be minimum of 10uS)
pulsin echo,1,range ‘ measures the range in 10uS steps
pause 100
let range = range * 10 / 58 ‘ multiply by 10 then divide by 58
readadc range, b1
if b1 < dangerlevel then
gosub nodanger ' if nothing ahead, drive forward
else
gosub whichway ' if obstacle ahead then decide which way is better
end if
goto main ' this ends the loop, the rest are only sub-routines


nodanger:' this should be your combination to make the robot drive forward, these you most likely need to adjust to fit the way you have wired your robots motors
high 5 : high 6 : low 4 : low 7
goto main

whichway:
gosub totalhalt ' first stop!

'Look one way:
gosub lturn ' look to one side
pause servo_turn ' wait for the servo to be finished turning
gosub totalhalt
readadc range, b1
'Look the other way:
gosub rturn ' look to another side
pause servo_turn ' wait for the servo to be finished turning
gosub totalhalt
readadc range, b2

' Decide which is the better way:
if b1<b2 then
gosub body_lturn
else
gosub body_rturn
end if
return

body_lturn:
high 6 : low 5 : low 7 : high 4 ' this should be your combination that turns the robot one way
pause turn : gosub totalhalt
return

body_rturn:
high 5 : low 6 : low 4 : high 7 ' this should be your combination that turns the robot the other way
pause turn : gosub totalhalt
return

rturn:
servo 0, 100 ' look to one side
return

lturn:
servo 0, 200 ' look to the other side
return

totalhalt:
low 4 : low 5 : low 6 : low 7 ' low on all 4 halts the robot!
Servo 0,150 ' face forward
wait 1 ' freeze all for one second
return

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ok
where can I find that info? I would love to learn it!

I'm not sure if this is the best manual, because I don't own a picaxe. But after a quick google on 'picaxe manual' I found this for you. Try reading it, and try every example in it. You will have fun with it, and you'll learn to write your own programs, so you can let your robot do whatever you want!

GobliZ - Check out my robots

 how far away should thing be, before we react?Is this part of the code or is it just an explanation? because it is bolded in Fritsl instruction and I assume it is part of the code.

"how far away should thing be, before we react?" is NOT part of the actual code. It is comment. So as you said, just and explanation. 

Do you have any idea what you are doing? First read a manual about the programming language the picaxe uses. After reading that carefully you should know all this, and be able to write your own programs.

 

GobliZ - Check out my robots

Its trial and error. Thats why I put the debug in. I let it run and waved my hand at what I thought was a safe distance then recorded what the range value was. Then I made that the value of the dangerlevel so it would react when it got to that distance. Everyone will have a different value.
thanks all xD i'll post my "frankenstein" soon
If you run my code while the stereo adapter is plugged in it will send the value of range to your screen so you can see how it changes as the SRF05 is clsoer to objects. Very handy to tweak the danger level...
- But when done, you want to remove the "debug" commands - they slow down the performance significantly!!