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

Chapter 5 Checking Out the Robot 109

to those ports, you can check them with the GP application. Select the Digital
tab now. You will see five rows of controls labeled Digital 0 to Digital 4.

Select Input, Output, or Pulse using the drop-down combo box. With Input
selected, the radio buttons will show what value a digital device is sending to
the port. With Output selected, you can select one of the radio buttons to send
a 0 or 1 value to the digital device attached to the port. The digital device at-
tached to the port should respond to the value you send. The Pulse setting
shows the rate that pulses are received from the port.

GP2D02
The GP2D02 is another type of Sharp sensor. Since the PPRK does not use this
sensor, you will not make use of this tab of the GP application—you can safely
ignore it.

Servo
This tab includes two important functions. First, it allows you to check the op-
eration of the servos. Four horizontal sliders correspond to each of four possi-
ble servos. Since the PPRK uses only three servos, only three of the four sliders
will be used. The slider starts with the control centered. By moving the slider
to one side of center, the corresponding servo will rotate in one direction. By
moving the slider to the other side, the servo should rotate in the opposite di-
rection. You can also use this tab to check whether the servos are connected to
the correct port. Recall that servo 0 is closest to the BrainStem controller (op-
posite sensor 0). Servo 2 is the next servo clockwise when looking at the PPRK
from above, and servo 3 is the remaining servo.

The second use for this tab is to recenter your servos if they become
uncentered. The servo should operate only when a program is commanding it

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