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Bots / The Ultimate Palm Robot/ Mukhar & Johnson / 222880-6 / Chapter 5

96 The Ultimate Palm Robot

sensors. Unfortunately, Robot1.prc has a bug, and it doesn’t report
the correct ranger reading for the third ranger. If you really want
to verify all three rangers and the servos, check out the Config
program, which we discuss later in the section “Software for the
BrainStem.” Despite its location in the BrainStem section, Config
works with the SV203 also.

Since these programs are already compiled into Palm OS applications,
using them is as easy as downloading them from the web and performing a
hot sync operation to load them to your PDA. Take a moment to do that now
with Robot1 and one of the other two programs—we’ll wait for you.

NOTE: ServoTest and PenFollow conflict with each other. If you try to
install both of them on the Palm at the same time, only one will show up in the
Application Launcher.

ServoTest

ServoTest appears on your PDAas a Robot Test icon. Tap the icon and you will
see a simple interface that consists of a number of sliders that can be used to
control up to six servos. With the PDAattached to the robot, move sliders 1, 2,
or 3 (shown next), and the corresponding servo on the robot will rotate.

PenFollow
The PenFollow application (which appears rather conveniently as a Pen Fol-
low icon on the PDA) also has a simple interface. It consists of a blank screen
with two buttons on the bottom. Tap the Start button, and move your stylus
across the screen. A line is drawn from the center of the screen to the current
stylus location, and the robot will start moving in the direction of this line.
Move the stylus, and the robot will follow it.

P:\010Comp\Bots\880-6\ch05.vp
Monday, May 12, 2003 4:06:09 PM