'{$STAMP BS2}
'**********************************
'* www.robotmaker.co.uk *
'**********************************
' This program demonstrates the remote control
' command (030) of the Infrared Control Freak
' The Infrared control is connected to the BOE-BOT / GROWBOT
' Which has a Basic Stamp
' The servos are connected to pin 14 and 13 of the Basic Stamp
BUTTON_CODE VAR BYTE 'Infrated Button Code
DEVICE_CODE VAR BYTE 'Infrared Device Code
X VAR WORD 'Simple counter
'The pins on the Basic Stamp are defined
'Where they are connected to on the BOE-BOT
'The Grow bot uses different pin settings
'Servo Connection
RIGHT_SERVO con 14 'Pin 14 for right servo
LEFT_SERVO con 13 'Pin 13 for left servo
'Speaker Connection
SPEAKER con 12 'speaker connected to Pin 12
DELAY con 10 'distance constant
SPEED con 50 'speed constant
'***************************
'* MAIN PROGRAM *
'***************************
MAIN:
Gosub Cricket 'Make a Cricket sound on each cycle
GOSUB COMMAND_030 'Send the Remote control Command to Infrated Control Freak
DEBUG HOME 'Set the cursor on the debug screeen
debug cls 'Clear the debug Screen
GOTO MAIN
'***************************
'* SUBROUTINES *
'***************************
'***************************
'This routine just makes a sound
'like a cricket chirping
CRICKET:
FOR X =18 to 12
freqout 8,X,1900
'toggle spk
NEXT
RETURN
COMMAND_030:
SEROUT 2, 16468, [30]
'***************************
'* SERIAL INPUT LOOP *
'***************************
'This routine send a command to the
'Infrared control freak
Loop:
SERIN 4, 16468,1000,main, [device_code, button_code]
DEBUG "button code =", dec Button_Code," Device Code =",dec Device_code," ", cr
DEBUG " ",CR
DEBUG "____________________________",cr
DEBUG HOME
' This is the Remote Control Branch
'
' Depending on which button is pressed,
' the Basic Stamp will jump to the appropriate routine.
' The following button codes
' where used in this program.
' Any button code could have been used
' If no button code is recognised
' nothing will happen
'
' Button code 18 is volume up
' Button code 19 is volume down
' Button code 58 is fast forward
' Button code 59 is fast rewind
If Button_code = 18 then forward
If Button_code = 19 then back
If Button_code = 58 then left
If Button_code = 59 then right
GOTO Loop
RETURN
'***************************
'* BC 18 *
'***************************
forward: 'otherwise move forward
debug "forward",cr 'debug direction to screen
for x = 1 to delay*2 'distance
pulsout left_servo,750+speed 'pulse left servo
pulsout right_servo,750-speed 'pulse right servo
pause 20 'pause 20 ms
next 'repeat x times
goto MAIN 'jump to sense routine
'***************************
'* BC 19 *
'***************************
back: 'move backward
debug "backward",cr 'debug direction to screen
for x=1 to delay*3 'distance
pulsout left_servo,750-speed 'pulse left servo
pulsout right_servo,750+speed 'pulse right servo
pause 20 'pause 20 ms
next 'repeat x times
goto MAIN 'turn right when done
'***************************
'* BC 58 *
'***************************
left: 'move left
debug "left",cr 'debug direction to screen
for x = 1 to delay*1 'distance
pulsout left_servo,750-speed 'pulse left servo
pulsout right_servo,750-speed 'pulse right servo
pause 20 'pause 20 ms
next 'repeat x times
goto MAIN 'jump to sense routine
'***************************
'* BC 59 *
'***************************
right: 'move right
debug "right",cr 'debug direction to screen
for x = 1 to delay *1 'distance
pulsout left_servo,750+speed 'pulse left servo
pulsout right_servo,750+speed 'pulse right servo
pause 20 'pause 20 ms
next 'repeat x times
goto MAIN 'jump to sense routine
END |
TM
