28107 Parallax Inc, 28107 Datasheet

28107

Manufacturer Part Number

28107

Description

KIT BOE-BOT DIGITAL ENCODER

Manufacturer

Parallax Inc

Datasheet

1.28107.pdf (2 pages)

Specifications of 28107

Accessory Type

Digital Encoder

Product

Microcontroller Accessories

Lead Free Status / RoHS Status

Lead free / RoHS Compliant

For Use With/related Products

Boe-Bot®

Lead Free Status / Rohs Status

Lead free / RoHS Compliant

Current page: 1 of 2
Download datasheet (271Kb)

Sample Program (Star_Pattern.BS2)

'{$STAMP BS2}

'{$PBASIC 2.5}

'Program to traverse a 5-pointed star. Straight sections are about 25" long.

'Angle of each turn is 144-degrees. Use it to test the encoders. If the left one

'fails to function, the Boe-Bot will just continue going in a straight line

'without stopping. If the right one fails, it will continue to circle in the turn.

'Ideally, it will come to rest at the point and direction in which it started.

'But it's uncalibrated, so that's somewhat unlikely!

'---------[Constants]----------------------------------------------------------

RIGHT

LEFT

SenseR

SenseL

MotorR

MotorL

Sense

Motor

'---------[Variables]----------------------------------------------------------

New

Side

Counter

'---------[Program begins here.]-----------------------------------------------

PAUSE 3000

FOR i = 1 TO 5

END

'---------[Subroutines]--------------------------------------------------------

Update:

Counter(LEFT) = 0

DO WHILE (Counter(LEFT) < 50)

LOOP

PAUSE 500

Counter(RIGHT) = 0

DO WHILE (Counter(RIGHT) < 20)

LOOP

PAUSE 500

FOR Side = RIGHT TO LEFT

RETURN

PULSOUT MotorL, 850

PULSOUT MotorR, 650

GOSUB Update

PAUSE 20

PULSOUT MotorR, 650

GOSUB Update

PAUSE 20

New(Side) = INS.LOWBIT(Sense + Side)

IF (New(Side) ^ Prev(Side)) THEN

ENDIF

Prev(Side) = New(Side)

Counter(Side) = Counter(Side) + 1

CON 0

CON 1

PIN 10

PIN 11

PIN 12

PIN 13

CON SenseR

CON MotorR

VAR Bit(2)

VAR Bit

VAR Word(2)

VAR Byte

'Constants defining direction subscripts.

'Righthand encoder input.

'Lefthand encoder input. (MUST be SenseR + 1.)

'Righthand motor output.

'Lefthand motor output. (MUST be MotorR + 1.)

'Base address for encoders.

'Base address for motors.

'Previous readings from encoders.

'Current readings from encoders.

'Side index (LEFT or RIGHT).

'Pulse counters for encoders.

'FOR/NEXT index

'Time to remove finger from reset button...

'Initialize LEFT counter.

'Pulse the servos to go straight

'by 50 pulse edges (about 25").

'Update the encoder counts.

'20 ms pulse gap.

'Wait 1/2 second before turn.

'Initialize RIGHT counter.

'Pulse the RIGHT servo to turn a 40% circle.

'Update the encoder counts.

'20 ms pulse gap.

'Wait 1/2 second before next side.

'Update pulse counts from the encoders.

'Just call it often enough to catch all the

'changes.

'For both encoders...

'Read new encoder value.

'Different from last value?

Yes: Update with new value.

Update counter.

599 Menlo Drive, Suite 100 • Rocklin, CA 95765 • USA

888-512-1024 (toll-free) • 916-624-8333 • 916-624-8003 (fax)

Boe-Bot Digital

Encoder Kit

#28107

Document revision: 2005 Aug 23

support@parallax.com

www.parallax.com

Related parts for 28107

28107 Summary of contents

Page 1

... Yes: Update with new value. Counter(Side) = Counter(Side ENDIF NEXT RETURN Boe-Bot Digital Encoder Kit Update counter. 599 Menlo Drive, Suite 100 • Rocklin, CA 95765 • USA 888-512-1024 (toll-free) • 916-624-8333 • 916-624-8003 (fax) www.parallax.com #28107 #28107 support@parallax.com Document revision: 2005 Aug 23 ...

Page 2

... But try it anyway to see how close it gets. More complicated examples, including coordinated motion, X-Y position and direction odometry, calibration techniques, and the theory behind them, may be downloaded from the Parallax website at: www.parallax.com/detail.asp?product_id=28107 Direction of Motion About 0.5" ...

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