Page 186 - Amphibionics : Build Your Own Biologically Inspired Robot

Amphibionics 05 3/24/03 8:44 AM Page 165
Chapter 5 / Serpentronic: Build Your Own Robotic Snake
Program the PIC 16F84 with the snake-test.hex file listed in
Program 5.2. When the chip has been successfully programmed,
insert it into the 18-pin I.C. socket on the main controller board
with the notch and pin 1 facing toward the LEDs and then turn the
power switch to the “ON” position. If everything is working prop-
erly, the LEDs should flash on and off while making random nois-
es. When the light and sound stops, the servos should all move to
the middle position, making the snake straight. If the snake is not
relatively straight, keep the power turned on and readjust each of
the servo horns so that it is straight. If nothing happens when
power is applied, then check all of the battery and circuit board
connections. Also, make sure that the PIC 16F84 was programmed
properly.

'------------------------------------------------------------------------------------------------------------------------------
PROGRAM 5.1
' Name : Snake-test.bas
snake-test.bas program
' Compiler : PicBasic Pro - MicroEngineering Labs
listing
' Notes : Program to test the main controller
' : board by flashing the LEDs, producing
' : sounds and setting each of the servos to
' : their middle positions
'------------------------------------------------------------------------------------------------------------------------------

' PortA set as outputs
trisa = %00000000

' PortB set as outputs. pins 0-1 inputs
trisb = %00000011

'------------------------------------------------------------------------------------------------------------------------------
' initialize variables

led_left VAR PORTA.2
led_right VAR PORTA.3
piezo VAR PORTA.4
servo_1 VAR PORTB.2

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