By TigPT
@ April 8, 2008

• Actuators / output devices: 2 servos, led's
• Control method: autonomous
• CPU: Basic Stamp 2
• Power source: 4 AA batteries
• Programming language: Basic
• Sensors / input devices: IR
• Target environment: indoor

Find out my new project here.

Hope it respect all parameters in the challenge:

"The Chair Challenge!"

Requirements:

1. Robot can be placed in any position and place operator prefers before start
2. Robot must then spin around it´s own center at least 10 times before step 3. (so we know it is actually navigating on it´s own)
   
3. Now the robot should try to drive around each of the 4 legs of a chair, like the orange arrow

• Result:

1. Robot was placed at the chair left side, in it direction.
2. The robot spins 10 times over itself before start the task.
3. The robot drives around each of the 4 legs, like the orange arrow.

• Picts:

• Code:

"The Chair Challenge!"

Requirements:

1. Robot can be placed in any position and place operator prefers before start
2. Robot must then spin around it´s own center at least 10 times before step 3. (so we know it is actually navigating on it´s own)
   
3. Now the robot should try to drive around each of the 4 legs of a chair, like the orange arrow

• Result:

1. Robot was placed at the chair left side, in it direction.
2. The robot spins 10 times over itself before start the task.
3. The robot drives around each of the 4 legs, like the orange arrow.

• Code:

'(I know it is not that cute.. it may be simplified, but i was afraid of gaping time to finish the task, since I'm with school projects in hands.. maybe I tune it up later)

' {$STAMP BS2}
' {$PBASIC 2.5}
' {$PORT COM6}

'---------- VARS ----------'
pulseCount VAR Byte
irdetectleft VAR Bit
irdetectrigth VAR Bit
fase VAR Byte
'---------- TEST ----------'


'---------- START ----------'
GOSUB Spin '5 Spins on it own center
GOSUB Spin '5 Spins on it own center
fase = 0
'--------- MAIN CODE ---------'
DO
FREQOUT 8,1,39500 'activate IR
irdetectleft=IN9
FREQOUT 2,1,39500 'activate IR
irdetectrigth = IN0
'-- states machine --'
SELECT fase 'find beguin position
CASE 0
IF (irdetectleft=0) AND (irdetectrigth=0) THEN
fase = fase + 1
LOW 1
ELSEIF (irdetectrigth=0)THEN
GOSUB Slow_Spin
HIGH 1
ELSE
GOSUB Soft_Spin
ENDIF

CASE 1 'turn around the first chair leg
GOSUB Slow_Around_Leg
HIGH 1
GOSUB Forward
GOSUB Around_Leg_Large
GOSUB Forward
GOSUB Slow_Around_Leg
GOSUB Slow_Around_Leg
GOSUB Slow_Around_Leg
LOW 1
fase = fase + 1

CASE 2 'find and sping on the 2nd leg
IF (irdetectleft=0) AND (irdetectrigth=0) THEN
GOSUB Slow_Around_Leg
HIGH 1
GOSUB Forward
GOSUB Around_Leg
'GOSUB Forward
LOW 1
fase = fase + 1
ELSEIF (irdetectrigth=0)THEN
HIGH 1
GOSUB Slow_Forward
ELSE
HIGH 1
GOSUB Slow_Forward
ENDIF

CASE 3 'find and sping on the 3rd leg
IF (irdetectleft=0) AND (irdetectrigth=0) THEN
GOSUB Slow_Around_Leg
HIGH 1
GOSUB Forward
GOSUB Around_Leg
GOSUB Forward
GOSUB Slow_Around_Leg
LOW 1
fase = fase + 1
ELSEIF (irdetectrigth=0)THEN
GOSUB Slow_Forward
ELSE
GOSUB Slow_Forward
ENDIF

CASE 4 'find and sping on the 4th leg
IF (irdetectleft=0) AND (irdetectrigth=0) THEN
GOSUB Slow_Around_Leg
HIGH 1
GOSUB Forward
GOSUB Around_Leg_Large
GOSUB Slow_Around_Leg
GOSUB Slow_Around_Leg
GOSUB Slow_Around_Leg
GOSUB Forward
LOW 1
fase = fase + 1
ELSEIF (irdetectrigth=0)THEN
HIGH 1
GOSUB Slow_Forward
ELSE
HIGH 1
GOSUB Slow_Forward
ENDIF


CASE ELSE 'stop at end of task
DO
GOSUB Stay
LOOP
ENDSELECT
LOOP
'---------- SPIN ----------'
Spin:
FOR pulseCount = 0 TO 255
PULSOUT 13,850
PULSOUT 12,850
PAUSE 45
NEXT
RETURN
Soft_Spin:
FOR pulseCount = 0 TO 10
PULSOUT 13,770
PULSOUT 12, 770
PAUSE 45
NEXT
RETURN
Slow_Spin:
FOR pulseCount = 0 TO 5
PULSOUT 13,755
PULSOUT 12,755
PAUSE 45
NEXT
RETURN
'---------- BASIC ----------'
Stay:
FOR pulseCount = 0 TO 255
PULSOUT 13,750
PULSOUT 12,750
PAUSE 45
NEXT
RETURN
Forward:
FOR pulseCount = 0 TO 40
PULSOUT 13, 650
PULSOUT 12, 850
PAUSE 20
NEXT
RETURN
Slow_Forward:
FOR pulseCount = 0 TO 50
PULSOUT 13, 740
PULSOUT 12, 760
PAUSE 20
NEXT
RETURN
'---------- LEGS ----------'
Around_Leg:
FOR pulseCount = 0 TO 110
PULSOUT 13,735
PULSOUT 12, 850
PAUSE 40
NEXT
RETURN
Around_Leg_Large:
FOR pulseCount = 0 TO 150
PULSOUT 13,735
PULSOUT 12, 850
PAUSE 40
NEXT
RETURN
Slow_Around_Leg:
FOR pulseCount = 0 TO 10
PULSOUT 13,735
PULSOUT 12, 850
PAUSE 40
NEXT
RETURN