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' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' BS2 Line Follow - Wall Following Software This software takes the inputs from two Wall sensors/Whiskers (one at the side and one in front) to control a robot following a wall on the left hand side of the robot. A simple 30 Hz PWM has been created for the robot with the following responses to the inputs: Left Whisker Contact No Contact No Contact Contact Front Wisker No Contact No Contact Contact Contact Left Motor Full Half Full Full Right Motor Half Full Zero Zero

'{$STAMP BS2} '{$PBASIC 2.5} ' Mainline LeftIR PIN 15 FrontIR PIN 14 LeftMotor PIN 4 RightMotor PIN 5 LOW LeftMotor LOW RightMotor DO IF (LeftIR = 0) THEN LeftMotor = 1 RightMotor = 0 ELSE LeftMotor = 0 RightMotor = 1 ENDIF PAUSE 15 ' ' ' Left Contact Hard/Slow Turn Right Hard/Slow Turn Left ' Motors Output/Stop

Silent chain gets its name from the fact that it is very quiet, even at high speeds and loads. It is also more efficient than roller chain because the clever shape of its inverted teeth provide smooth transfer of power from

Table 5-3 Color Black Brown Red Orange Yellow Green Blue Violet Gray White Resistor color code Digit 0 1 2 3 4 5 6 7 8 9 Multiplier 1 10 100 1,000 10,000 100,000 1,000,000 10,000,000 100,000,000 not used

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IF (LeftIR = 0) THEN ' IF (FrontIR = 0) THEN LeftMotor = 1 ' RightMotor = 1 ' ELSE LeftMotor = 1 ' RightMotor = 0 ENDIF

ELSE IF (FrontIR = 0) THEN LeftMotor = ' RightMotor = 1 ELSE LeftMotor = 0 ' RightMotor = 1 ENDIF PAUSE 15 LOOP ' '

This application was run on the same robot as the line follower, but used Sharp IR object sensors (see 30, Object Detection, for more information on the sensors).

2

Tolerance (no stripe) Silver Gold Brown 20% 10% 5% 1%

Hop into your car. Note the reading on the odometer. Now drive straight down the road for exactly one minute, paying no attention to the speedometer or anything else (of course, keep your eyes on the road!). Again note the reading on the odometer. The information on the odometer can be used to tell you where you are. Suppose it says one mile. You know that if you turn the car around exactly 180 and travel back a mile, at whatever speed, you ll reach home again. This is the essence of odometry; reading the motion of a robot s wheels to determine how far it s gone. Odometry is perhaps the most common method for determining where a robot is at any given time. It s cheap, easy to implement, and fairly accurate over short distances. Odometry is similar to the dead-reckoning navigation used by sea captains and pilots before the age of satellites, radar, and other electronic schemes. Hence, odometry is also referred to in robot literature as dead reckoning.

You can use a small disc fashioned around the hub of a drive wheel, or even the shaft of a drive motor, as an optical shaft encoder (described in Anatomy of a Shaft Encoder, in 20). The disc can be either the reflectance or the slotted type:

With a reflectance disc, infrared light strikes the disc and is reflected back to a photodetector. With a slotted disc, infrared light is alternately blocked and passed and is picked up on the other side by a photodetector.

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