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Distance Navigation

Ensure correct pulseout values, adjust values for each motor, complete tasks for servo motors, set up movement subroutines, conduct trials, calculate average distance, include ramping up & down.

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Distance Navigation

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  1. Distance Navigation TEJ3M BOE-BOT

  2. Preparation required • Make sure you have found the centre (stop) pulseout value (see page 70) and completed the table on page 81 • YOU MUST ADJUST PULSEOUT VALUES DEPENDING ON YOUR CENTRE VALUES for each motor (12 and 13) • Complete the Assignment 2 sheet for the servo motors and table

  3. Distance Navigation • Set up subroutines (pg 140-43) for each type of movement: • Turning 90 degrees subroutines (right, left) • Ramp up & ramp down, and measure travel distance for each • Make forward and reverse subroutines including ramp-up and ramp-down • Take 3 – 4 trials of forward and reverse with 10, 30, 60 loops and measure the distance. Calc the avg. inches/loop

  4. Ramping Up – pg. 137(modified: “STEP 10”) ‘ This code shows how to accelerate (or ‘ decelerate) smoothly with a counted loop FOR pulseCount = 1 TO 100 STEP 10 PULSOUT 13, 750 + pulseCount PULSOUT 12, 750 - pulseCount PAUSE 20 NEXT

  5. Forward Forward: Maxloops = (inches / inchesPerLoop) ‘ insert ramp-up here FOR counter = 1 TO maxloops PULSOUT 13, 850 ' Left servo full speed ccw. PULSOUT 12, 650 ' Right servo full speed cw. PAUSE 20 NEXT ‘insert ramp-down here Return

  6. Main Program Maxloops VAR Word Inches VAR Word Inches = 7 GOSUB Forward GOSUB Right Inches = 5 GOSUB Forward

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