Page 340 - Amphibionics : Build Your Own Biologically Inspired Robot

Amphibionics 07 3/24/03 9:13 AM Page 319
PROGRAM 7.8
:1003800027088D000F308E008F01A120A4000D08DA
:0C039000A5000A306C2008006300CC2996
avoidance.hex file
listing (continued)
:02400E00F53F7C Chapter 7 / Turtletron: Build Your Own Robotic Turtle
:00000001FF
Now that radio remote control and sonar obstacle avoidance has
been covered, a program will be written to incorporate both. An
operator will determine the robot movements, via the remote con-
trol. Based on distance measurements taken from the sonar mod-
ule, the microcontroller will inhibit movement if the robot is in
danger of crashing into an obstacle. Since the sonar is mounted to
the front of the robot, this will help protect the device. Compile the
program called remote-sonar.bas, listed in Program 7.9. Program
the PIC 16F84 with the corresponding remote-sonar.hex file, listed
in Program 7.10.
This kind of human/machine interaction is valuable in situations
where a robot is operated over large distances (teleoperated).
Because the complexity of machines has increased, it is impossi-
ble for humans to control all of the small aspects of robotic behav-
ior. With teleoperated robotics, the human gives basic control
commands and the robot carries out the tasks all on its own.
Another problem with controlling machines over large distances,
because of slow radio signals, is that time delays are introduced
between the human control commands and the robot’s actions. If
a human operator makes a mistake, the robot will compensate to
avoid a catastrophic failure.

'------------------------------------------------------------------------------------------------------------------------------
PROGRAM 7.9
' Name : remote-sonar.bas
remote-sonar.bas
' Compiler : PicBasic Pro - MicroEngineering Labs
program listing
' Notes : Remote control with sonar avoidance.
'------------------------------------------------------------------------------------------------------------------------------
' PortA set as outputs. Pin 1 input.
trisa = %00000010

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