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Chapter 5: Tactile Navigation With Whiskers

Chapter 5: Tactile Navigation With Whiskers. Presentation based on: "Robotics with the Boe-Bot" By Andy Lindsay Parallax, Inc. Presentation developed by: Martin A. Hebel Southern Illinois University Carbondale College of Applied Sciences and Arts Electronic Systems Technologies 7/6/04.

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Chapter 5: Tactile Navigation With Whiskers

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  1. Chapter 5: Tactile Navigation With Whiskers Presentation based on:"Robotics with the Boe-Bot" By Andy LindsayParallax, Inc Presentation developed by:Martin A. HebelSouthern Illinois University Carbondale College of Applied Sciences and Arts Electronic Systems Technologies 7/6/04

  2. Tactile Whiskers as switches

  3. Whisker "switch" open and closed

  4. Code to View Whisker Switch States Code: DO: DEBUG CLS, ? IN5, ? IN7 Pause 100 LOOP See "TestWhisker.bs2"

  5. Adding LED Indication

  6. Code using IF…THEN

  7. AI – Escaping Corners ' --- Detect Consecutive Alternate Corners ------------------------ ' See the "How EscapingCorners.bs2 Works" section that follows this program. IF (IN7 <> IN5) THEN ' One or other is pressed. IF (Old7 <> IN7) AND (Old5 <> IN5) THEN ' Different from previous. counter = counter + 1 ' Alternate whisker count + 1. old7 = IN7 ' Record this whisker press old5 = IN5 ' for next comparison. IF (counter > 4) THEN ' If alternate whisker count = 4, counter = 1 ' reset whisker counter GOSUB Back_Up ' and execute a U-turn. GOSUB Turn_Left GOSUB Turn_Left ENDIF ' ENDIF counter > 4. ELSE ' ELSE (old7=IN7) or (old5=IN5), counter = 1 ' not alternate, reset counter. ENDIF ' ENDIF (old7<>IN7) and ' (old5<>IN5). ENDIF ' ENDIF (IN7<>IN5).

  8. Moving Forward

  9. Simplifying Navigation with Subroutines • GOSUB – Used to temporarily branch to another a section of code. • Return – Used to return to where it jumped from. • See program "OneSubroutine.bs2"

  10. Roaming with Whiskers See "RoamingWithWhiskers.bs2"

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