Page 263 - Amphibionics : Build Your Own Biologically Inspired Robot

Amphibionics 06 3/24/03 9:02 AM Page 242
Amphibionics
The next program will test the robot leg motors and will ensure that
the motor connector is oriented correctly. Compile motor-test.bas,
listed in Program 6.3. Program the PIC 16F84 with the
motor-test.hex file listed in Program 6.4, and then insert it into the
18-pin socket on the main board. When the power is turned on, the
left leg motor should rotate in a forward direction for 3 seconds,
and then turn off. The right leg motor should then rotate forward
for 3 seconds. The whole sequence will then repeat itself. If either
the left or right leg motors are rotating in the reverse direction dur-
ing this test, then de-solder the wires connected to the offending
motor, reverse them, and re-solder the connections. If the first
motor to run is the right motor, then unplug the motor connector
(JP3), turn it around, and plug it back in. The motors are controlled
by first setting the L298 enable pins high on the desired channels.
The forward or reverse pins for each channel are then set high,
depending on the direction in which you want the motor to travel.
If both the forward and reverse pins are set high, then the chip will
perform a fast motor stop.

'------------------------------------------------------------------------------------------------------------------------------
PROGRAM 6.3
' Name : motor-test.bas
motor-test.bas program
' Compiler : PicBasic Pro - MicroEngineering Labs
listing
' Notes : Program to test the leg motors
'------------------------------------------------------------------------------------------------------------------------------

' PortA set as outputs. pins 0 and 1 inputs
trisa = %00000011

' PortB set as outputs. pin 1 input.
trisb = %00000001

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

include "modedefs.bas"

242