27404 Parallax Inc, 27404 Datasheet - Page 156

• Manufacturer Part Number: 27404
• Description: COMPETITION RING FOR SUMOBOT
• Manufacturer: Parallax Inc

Specifications of 27404

• Accessory Type: Hobby and Education
• Product: Microcontroller Accessories
• Lead Free Status / RoHS Status: Contains lead / RoHS non-compliant
• For Use With/related Products: SumoBot®
• Lead Free Status / RoHS Status: Lead free / RoHS Compliant, Contains lead / RoHS non-compliant

Example Program: ServoControlWithLookup.bs2
' -----[ Title ]--------------------------------------------------------------
' Applied Robotics with the SumoBot - ServoControlWithLookup.bs2
' {$STAMP BS2}
' {$PBASIC 2.5}
' -----[ I/O Definitions ]---------------------------------------------------
ServoLeft
ServoRight
' -----[ Constants ]----------------------------------------------------------
' SumoBot maneuver constants
Forward
Backward
RotateLeft
RotateRight
' Servo pulse width rotation constants
FS_CCW
FS_CW
√
√
√
√
√
Enter and save ServoControlWithLookup.bs2
Move the 3-position switch on the SumoBot circuit board to position 1.
Download the program to the SumoBot.
Hold down the Reset button on the SumoBot circuit board, then move the 3-
position switch from 1 to 2.
Place the SumoBot on the practice ring, let go of the Reset button, and watch it
navigate. It should move forward around 10 inches (25 cm), then rotate left
almost 90°, then rotate right almost 180°, then rotate left almost 90° to return to
the direction it was first facing. It should then continue forward and repeat the
“look left, look right” jog after another 10 inches.
The usefulness of the Reset subroutine. It sure was easier to just tap that Reset button to
make the SumoBot stop and wait wasn’t it? All you have to do is copy and paste a few
sections from TestResetButton.bs2 from Chapter 2, Activity #3 into this example program,
and you'll have that functionality again.
Calibration: Your servos may perform differently, so you many need to adjust the
FOR...NEXT loops' EndValue arguments to get your SumoBot to perform the search
pattern the way it was just described.
PIN
PIN
CON
CON
CON
CON
CON
CON
13
12
0
1
2
3
850
650
' Target = BASIC Stamp 2
' Language = PBASIC 2.5
' Left servo connected to P13
' Right servo connected to P12
' Forward
' Backward
' Rotate in place turning left
' Rotate in place turning right
' Full speed counterclockwise
' Full speed clockwise