Bipede
 

 
 
 

Papier models

Roboter

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__________________________________________________________________________
'   BI-PED PROGRAM FOR STAMP1
' de Regis CHEVREUIL     version 1.1
'Septembre 1999
'__________________________________________________________________________
' This robot use two servos, one connected to the body makes it slant
'to the right or left, thus raising the opposite feet.
'the second is connected to both legs, when the right feet goes forward
'the left goes backward, and vice versa.
' To walk one step forward, it needs to slant to one side to raise 
'the opposite feet. To move this feet forward, slant to the other side 
' and thus move the other feet which looks more like a penguin than
'a tyranausorus rex ! 
' To turn, it needs to move the feet (one forward thus the other
' backward) while they are both on the ground so both feet slip and the
'robot turns.
' So far, it works  well on flat and horizontal (!)  ceramic floor or
'carpet. If you go for a holiday in Pisa (Italy) please don't bring it with
'you on your visit to the tower !
'__________________________________________________________________________
'    CONSTANTS :

symbol av=0   'port servo legs
symbol lat=1   'port servo body
symbol sw=4   'port detection switches
symbol eye=6                    'port infra-red eye
symbol so=7   'port buzzer piezo
symbol led=3   'port led
symbol latd=200   'max position lateral right
symbol latg=75   'max position lateral left
symbol lat0=133   'position lateral 0=straight
symbol avg=90   'max position left leg forward(right back.)
symbol avd=190    'max position right leg forward(left back.)
symbol av0=140   'center legs
symbol speed=4   'speed of body+legs movements
symbol out=7
'__________________________________________________________________________
'    MAIN LOOP :
main: 
 gosub lr  'gosub lateral right loop
 gosub fl                'gosub left leg forward loop
 gosub test 
 gosub ll  'gosub lateral left loop
 gosub fr                'gosub right leg forward loop
 gosub test  'gosub test loop (legs switches)
    'THIS IS ONE FULL STEP FORWARD !
goto main   '(test the switches after each movement
    'forward of the feet)
'_________________________________________________________________________
'    STRAIGHT POSITION LOOP
 

l0:    'body straight position,do not mind legs ! 
 for b0=1 to 25   'this position is use only for turns
    '25 loop to stabilize the robot before
 pulsout lat,lat0 'turning.
 pause 20
 next
 pulsout 7,40000
 sound out,(100,12)
 pause 55
 sound out,(100,12)
 pause 55
 sound out,(100,12)
 pause 55 
 sound out,(110,25)
 pause 55 
 sound out,(110,25)
 pause 55
 sound out,(112,25)
 pause 55
 sound out,(112,25)
 pause 55
 sound out,(116,54)
 pause 55
 sound out,(114,15)
 pause 55
 sound out,(110,15)
 pause 55                'thoose loops are to emit a sound and light,
 pulsout so,90  'really useful because you know when the 
 pulsout led,250  'robot will starts to avoid objects,as this 
    'position is a part of the turning process
return

'_________________________________________________________________________
'    LATERAL RIGHT POSITION LOOP
 

lr:
 for b0=latg to latd  step speed      'from max left to max right 
 pulsout lat,b0  'the change of the speed factor will make 
 pause 20  'movement faster or slower,same to all the 
 next   'following loops.
 pause 30
return

'__________________________________________________________________________
'    LATERAL LEFT POSITION LOOP
 

ll:      'same as before for left
      ' position movement
 for b0=latd to latg  step -speed 'the sign - because the b0
 pulsout lat,b0    'value is decreasing !
 pause 20
 next
 pause 30
return:

'__________________________________________________________________________
'    RIGHT LEG FORWARD LOOP
 

fr:             'same loop for right leg forward
 for b0=avg  to avd  step speed
 pulsout av,b0
 pause 20
 next
 pause 30

return
'_________________________________________________________________________
'    LEFT LEG FORWARD LOOP
 

fl:             'same loop for left leg forward
 for b0=avd to avg  step -speed
 pulsout av,b0
 pause 20
 next
 pause 30

return
'_________________________________________________________________________
'    TURN RIGHT LOOP
 
 

turnr:    'this is the loop for avoiding object
for b3=1 to 5    'while going backward and turning right
 gosub lr  'body to the right
 gosub fr  'right leg forward
 gosub l0  'body straight
 gosub fl  'left leg forward as they are both on the
       'ground making the robot turn by "shuffing"
next b3
return
'________________________________________________________________________
'    TURN LEFT LOOP
 

turnl:    'same as before for backward and left turn 
for b3=1 to 5   'depending on which feet (switch) detect 
 gosub ll  'object
 gosub fl
 gosub l0
 gosub fr
next b3
return
'________________________________________________________________________
'    SWITCHES TEST LOOP

    'one switch on each feet is parallel to 
test:    'a different resistor and both serial connected
 random w2               'to input pin 5 the use of Pot instruction to
 b5=w2//4                'mesure the value on pin 5
        pot sw,6,b2  'mesure the value on pin 5
        if b2 > 12 and b2< 18 then turnr 'will tell wich of the switch
 if b2 >= 19  then turnl   'is activated
 if pin6=0 and b5>=2 then turnr          'check of eye and random choose
 if pin6=0 and b5<2 then turnl           'of direction to turn
return
 
 

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Letzte Geanderung : 01/02/01,22:21:15