Record your Boe-Bot’s resultant behavior for each pair in column 3. To do this, modify the PULSOUT Duration arguments in the program BoeBotForwardThreeSeconds.bs2 using each pari of values from column 1. It is time to fill in column 3 of Table 2-1: PULSOUT Duration Combinations on page 81.
Write a routine that makes the Boe-Bot go straight forward, then ramp in and out of a pivoting turn, and then continue straight forward.įOR counter = 1 to 30 ‘ Ramping pivot turnġ. With this information, write routines to make the Boe-Bot performs 30, 45, and 60 degrees turns.įOR counter = 1 to 8 ‘ Rotate right 30 degreesįOR counter = 1 to 12 ‘ Rotate right 45 degreesįOR counter = 1 to 16 ‘ Rotate right 60 degreesģ. Let’s say that you tested your servos and discovered that it takes 48 pulses to make a 180 degrees trun with right-rotate. Write a routine that makes the Boe-Bot back up for 350 pulses.Ģ. What are the different conditions that can be used with DO…LOOP?ġ.
#Another word for variable speed code#
What code block can you use to select a particular variable and evaluate it on a case by case basis and execute a different code block for each case?ĩ.
What command can you use to retrieve a value stored in EEPROM and copy it to a variable?Ĩ. What directive can you use to pre-store values in the BASIC Stamp’s EEPROM before running a program?ħ. – The FOR…NEXT loop’s pulseCount variable can be used as an offset (plus or minus) to 750 (the center position) in the Duration argument.Ħ. What’s the relationship between a FOR…NEXT loops’s Counter argument and the Pulsout command’s Duration argument that makes ramping possible? It should take 133 pulses to travel 36 inches.ĥ. Pulses = (Boe-Bot distance / Boe-Bot speed) * (40.65 pulses/s) If your Boe-Bot travels 11 in/s, how many pulses will it take to make it travel 36 inches? The PULSOUT command for the right wheel needs to be adjusted.Ĥ. – Slow down the rgiht wheel to correct a veer to the left. If your Boe-Bot veers slightly to the left when you are running a program to make it go straight ahead, how do you correct this? What command needs to be adjusted and what kind of adjustment should you make? – The right wheel is turning clockwise (forward), and the left wheel is not moving.ģ. When the Boe-Bot pivots to the left, what are the right and left wheels doing? What PBASIC commands do you need to make the Boe-Bot pivot left? – Left wheel counterclockwise, right wheel clockwise.Ģ. What direction does the left wheel have to turn to make the Boe-Bot go forward? What does the right wheel have to turn? When you touch the other whisker, it will cause the Boe-Bot to navigate in a wider diameter circle.ġ. When you touch one whisker, it will cause the Boe-Bot to travel in a tighter circle (small diameter). Make it beep twice if both whisker contacts are detected during the same sample.Ģ) Modify RoamingWithWhiskers.bs2 so that Boe-Bot roams in a 1 yard (or meter) diameter circle. Write down the modifications you will have to make to the Main Routine section of RoamingWithWhiskers.bs2.ġ) Modify RoamingWithWhiskers.bs2 so that the Boe-Bot makes a 4 kHz beep that lasts 100 ms before executing the evasive maneuver. Adjust the PAUSE command so that it is 250 instead of 50.Ģ) Using RoamingWithWhiskers.bs2 as a reference, write a Turn_Away subroutine that calls the Back_Up subroutine once and the Turn_Left subroutine twice. Exercisesġ) Write a DEBUG command for TestWhiskers.bs2 that updates each whisker state on a new line.
– They will be more fully introduced in the next activity. That decision is based in conditions, which are logical statements that evaluate to true or false.ĥ) What is the purpose of having nested IF…THEN statements? The IF…THEN command is used to decide which subroutine to jump to. The GOSUB is used to jump to different subroutines depending on the value of a variable. IN5 = 1 means the whisker is not pressed.Ĥ) What command is used to jump to different subroutines depending on the value of a variable? What command is used to decide which subroutine to jump to? What are these decisions based on? – IN7 = 1 means the whisker is not pressed. IN8 will have 0 (zero) voltage if a whisker is pressed and will have 1 voltage if a whisker is not pressed.ģ) If IN7 = 1, what does that mean? What does it mean if IN7 = 0? How about IN5 = 1 and IN5 = 0? – When a whisker is pressed, the I/O line sees 0 (zero) voltage. – The tactile switch the single-pole, single-throw switch.Ģ) When a whisker is pressed, what voltage occurs at the I/O pin monitoring it? What binary value will occur in the input register? If I/O pin P8 is used to monitor the input pin, what value does IN8 have when a whisker is pressed, and what value does it have when a whisker is not pressed? 1) What kind of electrical connection is a whisker?
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