At last, my first Picaxe project. Many thanks to all on this forum that helped me get to this point.
It is based on a 28x1, an L293D motor chip, a homebrew IR and a servo mounted SRF005 which is seriously under-used.
In one of the brief discussions on the forum, it was asked “why a 28x, an 08 would do” I felt I needed lots of inputs / outputs to play with, my coding capability being very noobie.
Here is my code 1st attempt. Very over commented.
I would appreciate some critical comments / suggestions how to do it better.
How on earth could this go to an 08? I am using four pins for motor control. That don’t leave a lot for other jobs. I want to try speed control next by PWMing the motor chip enables, another pin. Of board CD4xxx chips, although easily implemented defeat the object.
Lastly, the SRF isn’t really used. I can scan the field, record the blips, even decide where the biggest is – servo angle and distance. How do I use this information? I think I need to delve into wheel code disks and revolution counting . How far do I turn etc
It is based on a 28x1, an L293D motor chip, a homebrew IR and a servo mounted SRF005 which is seriously under-used.
In one of the brief discussions on the forum, it was asked “why a 28x, an 08 would do” I felt I needed lots of inputs / outputs to play with, my coding capability being very noobie.
Here is my code 1st attempt. Very over commented.
Code:
'TOKENS
' output pin 0 =
' output pin 1 = Servo
' output pin 2 = Peizo
' output pin 3 = Sonic out
' output pin 4 = Motor A+
' output pin 5 = Motor A-
' output pin 6 = Motor B+
' output pin 7 = Motor B=
'
' Input pin 0 = IR1 left
' Input pin 1 = IR2 right
' Input pin 2 =
' Input pin 3 =
' Input pin 4 =
' Input pin 5 =
' Input pin 6 = echo pulse in
' Input pin 7 =
' ADC 1 = = LDR
' ADC 2 =
' ADC 3 =
''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''
symbol range = w1 'word variable for range value
symbol trig = 3 'sonic pulse out
symbol echo = 6 'received sonic pulse
servo 1,150 'set servo ahead
main:
high 4,6
low 5,7 'both forward
gosub ir 'check side clearances
gosub ping 'check obstacles
goto main
'''''''''''''' Use ultrasonic detect forwaed '''''''''''''''''''''''
ping:
pulsout trig,2 ‘ produce 20uS trigger pulse (must be minimum of 10uS)
pulsin echo,1,range ‘ measures the range in 10uS steps
pause 10 ‘ recharge period after ranging completes
‘ now convert range to cm (divide by 5.8) or inches (divide by 14.8)
‘ as picaxe cannot use 5.8, multiply by 10 then divide by 58 instead
let range = range * 10 / 58 ‘ multiply by 10 then divide by 58
if range < 20 then gosub right
return
''''''''''''''''' Check L & R for clearance '''''''''''''''''''''''''''''
ir:
if pin0 = 1 then gosub right
if pin1 = 1 then gosub left
return
''''''''''''''' motor controls. Always backup before turn '''''''''''''''
right:
gosub back 'short reverse
high 4,7
low 5,6 ' spin right
pause 100
return
left:
gosub back 'short reverse
low 4,7
high 5,6 ' spin left
pause 100
return
back:
low 4,6
high 5,7 ' reverse
gosub buzz
pause 100
return
'''''''''''''''''' make sound ''''''''''''''''''''''''''''''
buzz:
let b0 = b0 + 1 ‘ increment b0
sound 7,(b0,50) ‘ make a sound
return
'low 4,6
'low 5,7 ' stop
'pause 5000How on earth could this go to an 08? I am using four pins for motor control. That don’t leave a lot for other jobs. I want to try speed control next by PWMing the motor chip enables, another pin. Of board CD4xxx chips, although easily implemented defeat the object.
Lastly, the SRF isn’t really used. I can scan the field, record the blips, even decide where the biggest is – servo angle and distance. How do I use this information? I think I need to delve into wheel code disks and revolution counting . How far do I turn etc