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December 04, 2004

here's some code that works with beginings of flocking

hey gals, i actually just modified the code a very very small bit - carly you'll see some new variables and ways that direction is handled. but I actually just popped the h-bridge right on the existing circuit with your LEDs and switched the wires. It worked! e voila. I added 3 transistors to govern direction - right left and center, even though center doesnt seem to matter much, we might just use center to light a blinky? anyway, the code is below.

also - important note - i got rid of the Ultrasonics altogether since they were so problematic, just for simplicity. Perhaps once we get the transistors workign well, we can add the US back in. I just felt like it was holding us up and we are running out of time. Since the IR can basically do the basic avoidance behavior alone, why not just go with it and add the coherence factor already via transistors. Perhaps later we can isolate the US on their own circuit and just get them to work well on their own, THEN add them back in. Anyway, thats my vote. Good night.

'****************************************************************
'* Name : robot_motorc.BAS *
'* Author : translaton of Christina Goodness BX Code, Carlyn Maw
'* Notice : Copyright (c) 2004 *
'* : All Rights Reserved *
'* Date : 4/16/2004 *
'* Version : 1.0 *
'* Notes : *
'* : *
'****************************************************************


DEFINE OSC 4

' ----------------------------------------------------- PORT SET-UP

'set port b to output:



TRISB = %00000000

TRISD = %00000000



'serial

TRISC = %10000000

tx var portc.6 'out

rx var portc.7 ' in 



'analog

' Define ADCIN parameters: 

DEFINE ADC_BITS 10 ' Set number of bits in result 

DEFINE ADC_CLOCK 3 ' Set clock source (3=rc) 

DEFINE ADC_SAMPLEUS 50 ' Set sampling time in uS



TRISA = %11111111 ' Set PORTA to all input

ADCON1 = %10000010 ' Set PORTA analog and right justify



' ----------------------------------------------------- CONSTANTS

'serial

inv9600     con 16468 ' baudmode (9600 8-N-1 inverted)

basicSpeed  con 100 ' used in IR detection

' ----------------------------------------------------- VARIABLES



'-- ir and ultrasonic vars (words or ints I'm not sure...)



getIR       var WORD    'getIR is the IR reading

readMotion  var WORD    'normalized IR reading

readMotion2 var WORD    'normalized IR reading



getSonic    var WORD    'getSonic is the Ultrasonic reading

rightTransistor    VAR BYTE     'getLight is Transistor the on the right

leftTransistor    VAR BYTE        'getleftlight is the tranistor on the left

centerTransistor VAR BYTE        'getcenterlight is the center transistor  






' ----------------------------------------------------- FAKEDATA



'getSonic = 375



' ----------------------------------------------------- START MAIN



'startup sequence






main:

HIGH PORTD.2

Pause 100

LOW PORTD.2





'get values



ADCIN 0, getIR          ' get the ADC value of Ultrasonic reading from pin A1

ADCIN 1, lefttransistor       'GET THE TRANSISTOR READING     on the right

ADCIN 2, centerTRANSISTOR         'GET THE TRANSISTOR READING ON THE LEFT

ADCIN 3, rightTRANSISTOR       'GET THE READING ON THE CENTER TRANSISTOR





'IR goes from 5 ish (spikes up to 12ish)

' 3 inches white 480-520

' 6 inches white 360-380

' 12 inches white 190's

' 2 feet white 100's

' 3 feet white 70's



'readMotion2 = ((1024 - getSonic) / 8)



readMotion = ((1024 - getIR) / 8)



'translates the values to be 127 to 60 

'from the range of 12 inches to 3 inches



'debug sensor infomation

'for somereason this seems to lock up for a while

SEROUT2 tx, inv9600, ["ir is ", dec readMotion, 13,10, "RIGHTLIGHT IS ", dec RIGHTTRANSISTOR, 13,10, "LEFTLIGHT IS ", dec LEFTTRANSISTOR, 13,10, "CENTERLIGHT IS ", dec CENTERTRANSISTOR, 13,10]



IF (READMOTION < 60) THEN RIGHTBACKWARD

IF (READMOTION >= 60 ) AND (READMOTION <= 70 ) THEN LEFTBACKWARD

IF (readMotion < basicSpeed) Then fullBackward 

If (readMotion = basicSpeed) Then fullStop 

If (readMotion > basicSpeed) Then fullForward 

IF (righttransistor > 200) THEN rightbackward 

IF (lefttransistor > 200) THEN leftbackward 

IF (CENTERTRANSISTOR > 200) THEN FULLFORWARD



'check out HPWM and todd's PWM code

'http://stage.itp.nyu.edu/~tvh204/code/simplepwm.html

pause 1000



goto main



fullForward: 

PORTB = %01010000

goto main



fullBackward: 

PORTB = %10100000

goto main



fullStop: 

PORTB = %00000000

goto main



leftForward: 

PORTB = %01000000

goto main



leftBackward: 

PORTB = %10000000

goto main



rightForward: 

PORTB = %00010000

goto main



rightBackward: 

PORTB = %00100000

goto main

                       

standStillLeft: 

PORTB = %01100000

goto main



standStillRight:

PORTB = %10010000

goto main

Posted by christina at December 4, 2004 10:48 PM

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