27316 Parallax Inc, 27316 Datasheet - Page 18

• Manufacturer Part Number: 27316
• Description: Microcontroller Modules & Accessories Penguin Robot BLACK
• Manufacturer: Parallax Inc

Specifications of 27316

• Product: Microcontroller Accessories
• Core Processor: 2PX24 Stamp
• Lead Free Status / RoHS Status: Lead free / RoHS Compliant

3.0 PROGRAMMING THE PENGUIN
3.1. PROGRAMMING CONCEPT
Programming the Penguin is very similar to the Parallax Toddler Robot, except that it uses the most
capable BASIC Stamp. The BS2px24’s higher speed is useful for computations and the expanded memory
and RAM eliminates some of the issues with limited resources that the Toddler has with the BASIC Stamp
2. An improved walking algorithm has been created for the Penguin and its BS2px24 chipset.
3.2. SERVO CALIBRATION
The Penguins servos most be calibrated before the Penguin can walk. This is a crucial step and the
Penguin will not walk without it.
Tip: Pressing 1 through 5 changes the coarseness of the adjustments
3.3. PENGUIN’S BASIC STAMP 2PX24 PINOUT
Copyright © Parallax, Inc. • Penguin (#27313-27316) • v1.0 7/12/2007
1) Run Penguin-ServoCalibration.bpx
2) Click in the white transmit area at the top of the Debug Terminal.
3) Press 'Enter' to enable the servos
4) Press + and - to adjust the tilt servo
5) Press the space bar to switch to the stride servo
6) Press + and - to adjust the stride servo
7) Press 's' to save the new settings
8) Listen for the long beep to ensure that the settings were saved
I/O Pin
P0
P1
P2
P3
P4
P5
P6
P7
P8
P9
P10
P11
P12
P13
P14
P15
Close the Debug Terminal before downloading a new program, disconnecting the USB cable,
or switching off the power to your tethered Penguin! If you fail to close the Debug Terminal
before any of these actions, the port may hang up and the BASIC Stamp Editor will freeze when you
next try to program your Penguin. If this happens, close the Editor with the Task Manager.
Description
Photoresistor – right
Photoresistor – left
Infrared emitter – right
Infrared emitter – left
Infrared receiver
I/O expansion port
Servo stride
Servo tilt
7-segment LED A
7-segment LED B
7-segment LED C
7-segment LED D
Speaker
Hitachi HM55B Compass – CLK (clock)
Hitachi HM55B Compass – CS (chip select)
Hitachi HM55B Compass – DIN/DOUT (data in/out)
Direction
Output
Output
Output
Output
Input
Input/Output
Output
Output
Output
Output
Output
Output
Output
Output
Output
Input/Output
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