C.D.S.

By The_Black_Cat
@ November 21, 2010

• Actuators / output devices: 2 LEDs, 2 geared moters, 1 Servo
• CPU: Picaxe 28x1
• Operating system: Basic
• Power source: 3AA cells for logic circuits, 1 9 volt for moters and servos
• Programming language: Basic
• Sensors / input devices: Sharp IR
• Target environment: indoor flat surfaces

Hi this is my first robot based on the Start Here Bot. 

Thank you for all of your help I hope you enjoyed  my first robot.

Here's more pictures:

The brain:

Shiny:

The code (bask in it's glory):

symbol dangerlevelmin = 18 ' how far away should thing be, before we react?

symbol dangerlevelmax = 85 ' how far away should thing be, before we react? note (150 is closer than 110)

symbol turn = 300 ' this sets how much should be turned

symbol servo_turn = 225 ' This sets for how long time we should wait for the servo to turn (depending on it´s speed) before we measure distance

wait 5

'****************************************************************************************************************************************************************

main: ' the main loop

servo 0, 150

pause 150

readadc 0, b2 ' read how much distance is straight ahead

gosub checkdangerlevel

servo 0, 205

pause 150

readadc 0, b2 ' read how much distance is toward right side

gosub checkdangerlevel

servo 0, 150

pause 150

readadc 0, b2 ' read how much distance is straight ahead

gosub checkdangerlevel

servo 0, 95

pause 150

readadc 0, b2 ' read how much distance is toward left side

gosub checkdangerlevel

goto main ' this ends the loop, the rest are 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 : low 6 : low 4 : high 7

return

'****************************************************************************************************************************************************************

whichway:

gosub totalhalt ' first stop!

'Look one way:

high 3

gosub lturn ' look to one side

pause 50 ' wait for the servo to be finished turning

readadc 0, b1

low 3

gosub totalhalt

'Look the other way:

high 3

gosub rturn ' look to another side

pause 50 ' wait for the servo to be finished turning

readadc 0, b0

low 3

gosub totalhalt

' Decide which is the better way:

if b1<b0 and b1 < 18 then

gosub body_lturn

else

gosub body_rturn

end if

return

'******************************************************************************************************************************************************************

body_lturn:

high 4:low 5

high 7:low 6' this should be your combination that turns the robot one way

pause 680: gosub totalhalt

return

body_rturn:

high 6:low 7

high 5:low 4' turn the robot other way

pause 680: gosub totalhalt

return

'******************************************************************************************************************************************************************

rturn:

servo 0, 225 ' look to one side

pause 200

return

lturn:

servo 0, 75 ' look to the other side

pause 200

return

'******************************************************************************************************************************************************************

totalhalt:

high 2

low 4 : low 5 : low 6 : low 7 ' low on all 4 halts the robot!

Servo 0,150 ' face forward

pause 150' freeze all for 150 milaseconds

low 2

return

'******************************************************************************************************************************************************************

checkdangerlevel:

if b2 <= dangerlevelmax and b2 >= dangerlevelmin then

gosub nodanger ' if nothing ahead, drive forward

else 

gosub whichway ' if obstacle ahead then decide which way is better

end if

return

'*****************************************************************************************************************************************************************