Page 131 - Amphibionics : Build Your Own Biologically Inspired Robot

Amphibionics 04 3/24/03 8:24 AM Page 110
Amphibionics
PROGRAM 4.4
:100060000C1A8D060C198D068C188D060D0D8C0D35
limit-switch.hex program
:100070008D0D5C288F018E00FF308E07031C8F07CB
listing (continued) :10005000841780055C280D080C0403198C0A803075
:10008000031C5C2803308D00DF3048203C288D01A4
:10009000E83E8C008D09FC30031C51288C070318A6
:1000A0004E288C0764008D0F4E280C1857288C1C86
:1000B0005B2800005B28080083130313831264008D
:1000C00008008316FF3085000C308600831206136B
:1000D000831606138312861283168612831201304A
:1000E000A600640006302602031896280630A200F7
:1000F0001030A00050308E000430012064308E009B
:100100000230012086108316861083120610831693
:100110000610323083123A2086148316861083121A
:100120000614831606108312A60F71280630A2004B
:100130001030A00064308E000430012078308E0032
:100140000230012050308E00023001205A308E00E3
:100150000230012086108316861083120610831643
:10016000061083126400051EBA28061483160610B2
:100170008312BE2806108316061083126400851DA4
:10018000C6288614831686108312CA288610831602
:0A01900086108312B2286300CB280A
:02400E00F53F7C
:00000001FF

Now that everything is running correctly, it is time to put all of the
individual pieces of software together into one program that will
allow the frog robot to jump in a coordinated manner. The pro-
gram will start by monitoring the limit switches that determine
when the legs’ spring-loading mechanisms are set in the proper
position. If the limit switches are not triggered, then the program
will command the servos to rotate forward until both legs are set.
When both legs are in position, the servos are paused for a
moment and then both are commanded to rotate forward at the
same time. The spring mechanisms then let go, and the energy
stored in the springs forces each leg down quickly, causing the
frog’s body to leap forward off the ground. Because it is impossi-
ble to get the two legs perfectly coordinated when the mechanism

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