Page 206 - Robots Androids and Animatrons : 12 Incredible Projects You Can Build

Program 2
‘Microcontroller 2
b4 150 ‘Initialize servo to midposition
start:
peek 6, b1 ‘Read communication from microcontroller 1
let b0 b1 & 7 ‘Mask out except first 3 bits
if b0 0 then slp ‘Time to sleep
if b0 1 then rt ‘Turn right
if b0 2 then lt ‘Turn left
if b0 3 then fw ‘Move forward
if b0 4 then avoid ‘Avoid mode
goto start
slp:
low 4: low 5 ‘Turn off motor
pulsout 3, b4 ‘Maintain servo motor
pause 18 ‘Timing for servo motor
goto start ‘Read microcontroller 1
rt: ‘Turn right
high 4: low 5 ‘Move forward
if b4 > 200 then rt1: ‘Is servo at maximum right?
b4 = b4 + 1 ‘No
185
rt1: ‘Yes
pulsout 3, b4 ‘Turn servo
pause 18 ‘Adjust timing (55 Hz)
goto start ‘Read microcontroller 1
lt: ‘Turn left
high 4: low 5 ‘Move forward
if b4 < 100 then lt1: ‘Is servo at maximum left?
b4 = b4 1 ‘No
lt1: ‘Yes
pulsout 3, b4 ‘Turn servo
pause 18 ‘Adjust timing (55 Hz)
goto start ‘Read microcontroller 1
fw: ‘Forward
high 4: low 5 ‘Move forward
pulsout 3, b4 ‘Turn servo
pause 18 ‘Adjust timing (55 Hz)
goto start ‘Read microcontroller 1
avoid:
low 4: high 5 ‘Move backward
if b4 > 150 then vr ‘Check steering, veer right?
if b4 <= 150 then vl ‘Check steering, veer left?
vr: ‘Veer right
Team LRN
Behavioral-based robotics, neural networks, nervous nets, and subsumption architecture