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Thread: Walking robot with 08M2

  1. #1
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    Default Walking robot with 08M2

    Hello everybody,
    I am kindly asking for help. I built a walking robot - inspiration from here: http://www.lollybotrobotics.co.uk/resources.html
    I would like the robot to beep while turning. I cannot achieve this. I tried multitasking with start0 and start1 where start1 handled the beeping but it did not work. Maybe the 08M2 is too busy handling the servos. I was only able to make sound before it starts turning and I learned at Let's make robots that is better to add command low after sound command to let the corresponding pin be at log 0. Can anybody advice? Thank you for help. Code is attached:
    Code:
    rem c.1  servo
    rem c.4  servo
    rem c.2  HC-SR04 trigger
    rem c.3  HC-SR04 echo
    rem c.0  piezzo
    
    #no_data
    
    symbol time1 = 100
    
    
    servo c.1,150
    servo c.4,150
    pause 500
    
    
    main:
    
    pause 10
    pulsout c.2,5
    pulsin c.3,1,w1
    pause 10
    
    w1 = w1*10/58
    ;sertxd ("w1 = ",#w1," Cm ",cr,lf)
    pause 50
    if w1<15 then
    
    	gosub turn
       else
    	gosub walk_forward
    endif
    goto main
    
    #rem
    servos_mid_position:
    servo c.1,150
    servo c.4,150
    pause 20
    return
    #endrem
    
    walk_forward:
    servo c.1,120
    pause time1
    servo c.4,120
    pause time1
    servo c.1,180
    pause time1
    servo c.4,180
    pause time1
    return
    
    turn:
    sound c.0,(120,50,0,50,120,50,0,50,120,50,0,50) low c.0
    for b1 = 1 to 5
    servo c.4,120
    pause time1
    servo c.1,90
    pause time1
    servo c.4,180
    pause time1
    servo c.1,150
    pause time1
    next b1
    return
    walker.jpg

  2. #2
    Technical Support
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    Default

    SOUND is a blocking command so everything stops while the sound is played, even when SOUND is put in a separate task.

    The best way to do SOUND in parallel to something else is to use a second PICAXE to generate the sound which can be triggered from the pin which would have been used to output the sound.

    If SEROUT is used ( and SERIN or HSERIN on the sound generating PICAXE ) you can have it generate different sounds, but it's probably best to start with just triggering a single sound with HIGH and LOW signals.

  3. #3
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    Default

    I thought so, but was not sure. Thank you very much for your help.

  4. #4
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    Default

    I'm a huge fan of these tiny 10-cent buzzers and rarely build a circuit without one: http://www.ebay.com/itm/232045296534 The types used in fire alarms.

    No SOUND command required, they emit a LOUD fixed beep tone just from a 5V signal, pulling ~20mA. For best results, connect buzzer's +pin to +5V, other pin to Picaxe pin, drive low to activate. Works fine with servo and pwm commands, even at 4.5V (3xAA) https://www.youtube.com/watch?v=IrRRgLXzl3U

    They come with a wash sticker in place, which reduces volume considerably. Handy, tape works too.

    You can also send various SOUNDs through them if you like:

    https://www.youtube.com/watch?v=WBJq6RZhOvw
    https://www.youtube.com/watch?v=EF1-noeMqVI
    https://www.youtube.com/watch?v=NMX5kicEoJw
    https://www.youtube.com/watch?v=ggah9mkvx-U

  5. #5
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    Default

    Thank you for the hint.

  6. #6
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    HTH.

    NemluvÝm česky, I biked through Czech and ran the Praha marathon in 2001. What a great country!

  7. #7
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    Quote Originally Posted by erco View Post
    HTH.

    NemluvÝm česky, I biked through Czech and ran the Praha marathon in 2001. What a great country!
    And their Budvar is the proper stuff

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