ultimo aggiornamento 18 marzo 2010


 

Per comandare in remoto il robot, per esempio un Boe-Bot puņ essere utilizzato un semplice programma denominato BoeBot Remote Control, che tramite una semplice interfaccia grafica permette di comandare i due servomotori del robot.
I file sono scaricabili tramite questi link

Easy Bluetooth Software (.zip)
Easy Bluetooth Code For GUI (.bs2)
Una volta scaricato e installato i programmi (lato PC e lato Robot) č possibile agendo sui tasti frecce del PC comandare il robot nelle 4 direzioni, barra spazio per fermarlo.

homotix

PCBA

OurPCB

Ecco di seguito la sequenza delle videate che appaiono durante l'installazione del programma

 

 

 

' =========================================================================
'
' File...... Easy Bluetooth.bs2
' Purpose... Control a Boe-Bot with a GUI interface
' Author.... Technical Support & RoboTech SRL
' E-mail.... support@parallax.com
' Started... April 1st 2009
' Updated... N/A
'
' {$STAMP BS2}
' {$PBASIC 2.5}
'
' =========================================================================
' -----[ Program Description ]---------------------------------------------

' This program is what is loaded into the BASIC Stamp prior to using the GUI interface
' from RoboTech SLR. It allows a Boe-Bot to be controlled via a GUI interface.
'
' Commands are as followed:
'
' Up Arrow     = Forward
' Down Arrow = Backwards
' Left Arrow   = Left Turn
' Right Arrow = Right Turn
' Space Bar   = Stop
'
' You can press and hold and release an arrow key for 2 seconds to access a double speed
' of each action. For example, Press Up Arrow, release to make the Boe-Bot move faster
' forward.

' -----[ I/O Definitions ]-------------------------------------------------

BT_RX PIN 2 ' RX of the Easy Bluetooth
BT_TX PIN 0 ' TX of the Easy Bluetooth
LED PIN 7 ' Indicator LED for Bluetooth Connection

' -----[ Constants ]-------------------------------------------------------

BT_SPEED CON 84 ' baud 9600 true UART

' -----[ Variables ]-------------------------------------------------------

tLeft VAR Word ' Left Servo control pulse durations
tRight VAR Word ' Right Servo control pulse durations
temp VAR Word ' Temp variable

' Buffer array not declared as buffer VAR Word(5) for SERIN functionality.
' It can still be accessed as buffer(0), buffer(1), etc. However,
' buffer0, buffer1, etc. should be used in SERIN commands with variations
' of WAIT.

buffer0 VAR Byte ' Buffer - Start char = $ff
buffer1 VAR Byte ' Message Index value
buffer2 VAR Byte ' Command
buffer3 VAR Byte ' Argument 1 (return data 1)
buffer4 VAR Byte ' Argument 2 (return data 2)
buffer VAR buffer0 ' For standard array indexing
msgIndex VAR Byte ' message index
rxc VAR Byte ' Receive Clear

' -----[ Initialization ]--------------------------------------------------

Program_Start:
LOW LED
DEBUG CLS


PAUSE 1000 ' Wait for the RBT-001 radio to be ready.

msgIndex = 0


buffer0 = $FF ' Connection packet
buffer1 = msgIndex
buffer2 = $CC
buffer3 = 100
buffer4 = 100
GOSUB Set_Servo_Speed


DEBUG CR,"Waiting connection..." ' wait for connection request
SERIN BT_RX, BT_SPEED, [WAITSTR buffer \ 3, buffer3, buffer4] '

' -----[ Program Code ]----------------------------------------------------

DO

SELECT buffer2
CASE $CC ' Connect
HIGH LED
msgIndex = 0
DEBUG CR,"Connected"
GOSUB Reply
CASE $DD ' Disconnect
LOW LED
DEBUG CR,"Disconnected"
GOSUB Reply
GOTO Program_Start
CASE $11 ' Servo
DEBUG CR,"Servo"
GOSUB Set_Servo_Speed
GOSUB Reply
CASE ELSE ' Error
buffer2 = $EE
GOSUB Reply
ENDSELECT

Resume: ' If Message not rcvd, try again

PULSOUT 13, tLeft ' Servo control pulses
PULSOUT 12, tRight

SERIN BT_RX, BT_SPEED, 10, Resume, ' Get next command
[WAITSTR buffer \ 2, buffer2,
buffer3, buffer4]

PULSOUT 13, tLeft ' Servo control pulses again
PULSOUT 12, tRight
LOOP

Reply:
msgIndex = msgIndex + 1 ' Increment message index for reply. Next message from PC has to use
buffer1 = msgIndex ' reply's buf[1].
SEROUT BT_TX, BT_SPEED, [STR buffer \5]


' -----[ Subroutines ]-----------------------------------------------------

Set_Servo_Speed: ' Range of 0 to 200 with 100 = stopped maps to 650 to 850 with 750 stopped.
tLeft = buffer3 + 650 ' Decode servo speed.
tRight = buffer4 + 650
RETURN

' -----[ Data ]------------------------------------------------------------

ResetOnOff DATA 0 ' On/off toggle w/ Reset button
RequestConnect DATA $FF, 0, 1, 0, 0
ConnectionGranted DATA $FF, 0, 2, 0, 0
RequestCommand DATA $FF, 0, 3, 0, 0
ServoSpeeds DATA $FF, 0, 4, 0, 0

 

Elenco revisioni:
18/03/2010 Emissione preliminare
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