Page 192 - Amphibionics : Build Your Own Biologically Inspired Robot

Amphibionics 05 3/24/03 8:44 AM Page 171
Chapter 5 / Serpentronic: Build Your Own Robotic Snake
led_left VAR portA.2
ircal-serpent.bas
led_right VAR portA.3 PROGRAM 5.3
program listing
ir_input VAR portB.1 (continued)
low led_left
low led_right
ir_cal:

If ir_input = 0 then
high led_left
high led_right
endif
low led_left
low led_right

goto ir_cal

end

:1000000001288316850103308600831205118316AB PROGRAM 5.4
:1000100005118312851183168511831264008618D9 ircal-serpent.hex file
:100020001928051583160511831285158316851168 listing
:10003000831205118316051183128511831685110C
:0800400083120E286300222840
:02400E00F53F7C
:00000001FF

Motion Control
The next task will be to coordinate the movement of each of the
snake’s body segments to achieve locomotion. To produce a for-
ward movement, our snake will move its body in a sine wave pat-
tern vertically, with a slight side to side movement of the horizon-
tal segments. The use of servos makes this sort of programming

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