Wiki source code of Sumo for Bot Board & BASIC Atom or Pro with Scorpion
Last modified by Eric Nantel on 2023/02/02 13:56
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1 | {{html wiki="false" clean="true"}} |
2 | <body><table border="0" cellpadding="0" cellspacing="0" > |
3 | <tbody><tr> |
4 | <td valign="top" ><font size="2" face="verdana"><strong>Sumo for |
5 | Bot Board / BASIC Atom or Pro / Scorpion.</strong></font> |
6 | <p><font size="2" face="verdana"><strong>Updated: <!--webbot |
7 | bot="Timestamp" startspan s-type="EDITED" s-format="%m.%d.%y" -->02.15.06<!--webbot |
8 | bot="Timestamp" i-checksum="13028" endspan --></strong></font></p> |
9 | <p><font size="2" face="verdana"><b>By Jim |
10 | Frye & Beth |
11 | Frye</b></font></p> |
12 | <p><font size="2" face="verdana">The goal of this tutorial is to build an |
13 | autonomous sumo using a Bot Board with an Atom 28 or Pro microcontroller, |
14 | Scorpion motor controller, and various sensors.</font></p> |
15 | <p><font size="2" face="verdana">Note, in our examples we are using a |
16 | Viper sumo chassis. However, the fundamental principals explained in this |
17 | tutorial can be used with any of our sumo chassis. Minor changes to the |
18 | code may be necessary and are encouraged to fine-tune the performance of |
19 | your sumo set up. These modifications are simple. For example, a |
20 | six-wheel-drive sumo will require a larger turning value than a |
21 | two-wheel-drive to obtain the same results.</font></p> |
22 | <p><font size="2" face="verdana">This is a work-in-progress, and will be |
23 | updated as we proceed with the project.</font></p> |
24 | </td> |
25 | <td align="center" valign="top" width="320"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/sumo-bot-board-basic-atom-scorpion/WebHome/bbsisos.jpg" border="2" hspace="10" ><br> |
26 | <font size="2" face="verdana"><strong>Current Picture (as of 03.01.04)</strong></font></td> |
27 | </tr> |
28 | <tr> |
29 | <td colspan="2" valign="top"> <a name="elec1"></a></td> |
30 | </tr> |
31 | <tr> |
32 | <td valign="top" ><b><font size="2" face="verdana">1. Attaching |
33 | Scorpion to Chassis</font></b> |
34 | <p><font size="2" face="verdana"><b>Step 1.</b> Consult the Scorpion <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-system/ses-electronics/ses-modules/WebHome/scorpion.pdf" target="_blank">users |
35 | manual</a> to disable mixing (tank steer mode) and disable the battery |
36 | elimination circuitry (BEC). Cut the servo cables to about 3" length, |
37 | and solder them in the Left and Right positions. Use double-sided foam |
38 | tape to attach the Scorpion to the chassis as shown in the picture.</font></p></td> |
39 | <td align="center" valign="top" ><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/sumo-bot-board-basic-atom-scorpion/WebHome/bbs03.jpg" border="2" hspace="10" ><br> |
40 | <font size="2" face="verdana">Figure 1-1.</font></td> |
41 | </tr> |
42 | <tr> |
43 | <td colspan="2" valign="top"> <a name="power1"></a></td> |
44 | </tr> |
45 | <tr> |
46 | <td valign="top" ><font size="2" face="verdana"><b>2. Wiring |
47 | Power to the Electronics</b></font> |
48 | <p><font size="2" face="verdana"><b>Step 1.</b> Solder the wires onto the |
49 | DPDT power switch as illustrated. While positioned as shown, flipping the |
50 | toggle switch down will apply 9vdc to the Bot Board. Flipping the switch |
51 | up will apply 9vdc to the Bot Board and 14.4vdc to the Scorpion. This is |
52 | useful for disabling the motors while programming.</font></p> |
53 | </td> |
54 | <td align="center" valign="bottom" ><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/sumo-bot-board-basic-atom-scorpion/WebHome/bbs02.jpg" border="2" hspace="10" ><br> |
55 | <font size="2" face="verdana">Figure 2-1.</font></td> |
56 | </tr> |
57 | <tr> |
58 | <td colspan="2" valign="top"> </td> |
59 | </tr> |
60 | <tr> |
61 | <td valign="top" ><font size="2" face="verdana"><b>Step 2.</b> |
62 | This image illustrates the power switch installed, the 14.4vdc leads going |
63 | to the Scorpion's battery inputs, and the motor wires connected to the |
64 | Scorpion's screw terminals. Observe polarity!<br> |
65 | </font> |
66 | <div align="center"> |
67 | <center> |
68 | <font size="2" face="verdana"> |
69 | </font><font size="2" face="verdana"><font size="2" face="verdana"> |
70 | </font></font><table border="1" bordercolor="#FFFFFF"> |
71 | <tbody><tr> |
72 | <td bordercolor="#808080" bgcolor="#C0C0C0"> |
73 | <p align="center"><font face="Verdana" size="2">Screw Terminal</font></p> |
74 | </td> |
75 | <td bordercolor="#808080" bgcolor="#C0C0C0" align="center"> |
76 | <p align="center"><font face="Verdana" size="2">Batt. / Motor Wire</font></p></td> |
77 | </tr> |
78 | <tr> |
79 | <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana">B+</font></td> |
80 | <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana">Battery |
81 | +</font></td> |
82 | </tr> |
83 | <tr> |
84 | <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana">B-</font></td> |
85 | <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana">Battery |
86 | -</font></td> |
87 | </tr> |
88 | <tr> |
89 | <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana">L+</font></td> |
90 | <td bordercolor="#C0C0C0" align="center"><font size="2" face="verdana">Left |
91 | Motor +</font></td> |
92 | </tr> |
93 | <tr> |
94 | <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana">L-</font></td> |
95 | <td bordercolor="#C0C0C0" align="center"><font size="2" face="verdana">Left |
96 | Motor -</font></td> |
97 | </tr> |
98 | <tr> |
99 | <td bordercolor="#C0C0C0" align="center"><font face="Verdana" size="2">R+</font></td> |
100 | <td bordercolor="#C0C0C0" align="center"><font size="2" face="verdana">Right |
101 | Motor +</font></td> |
102 | </tr> |
103 | <tr> |
104 | <td bordercolor="#C0C0C0" align="center"><font size="2" face="verdana">R-</font></td> |
105 | <td bordercolor="#C0C0C0" align="center"><font size="2" face="verdana">Right |
106 | Motor -</font></td> |
107 | </tr> |
108 | <tr> |
109 | <td bordercolor="#FFFFFF" align="center" colspan="2"><font face="Verdana" size="2"><font size="2" face="verdana">Table |
110 | </font></font><font face="Verdana" size="2">2</font><font size="2" face="verdana">-2</font></td> |
111 | </tr> |
112 | </tbody></table><font size="2" face="verdana"><font size="2" face="verdana"> |
113 | </font></font></center><font size="2" face="verdana"><font size="2" face="verdana"> |
114 | </font></font></div><font size="2" face="verdana"><font size="2" face="verdana"> |
115 | </font></font></td> |
116 | <td align="center" valign="top" ><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/sumo-bot-board-basic-atom-scorpion/WebHome/bbs04.jpg" border="2" hspace="10" ><br> |
117 | <font size="2" face="verdana">Figure 2-2.</font></td> |
118 | </tr> |
119 | <tr> |
120 | <td valign="top" colspan="2"> <a name="prog1"></a></td> |
121 | </tr> |
122 | <tr> |
123 | <td valign="top" ><font size="2" face="verdana"><b>3. Setting Up |
124 | and Installing the Bot Board and Atom</b></font> |
125 | <p><font size="2" face="verdana">Consult the Bot Board <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-system/ses-electronics/ses-modules/WebHome/mini-abb-user-guide.pdf" target="_blank">users |
126 | manual</a> to provide VL to the power bus for I/O 0 - 3, and AX 0 - 3 for |
127 | the Atom 28. Enable the onboard speaker and the pushbuttons / LEDs (simple |
128 | user interface). Install the board as shown using the provided hardware. |
129 | Carefully install the Atom into the Bot Board socket. Install the 9vdc |
130 | wires from the switch harness. Observe polarity! Plug in the servo cables |
131 | from the Scorpion with Left being I/O 14 and Right being I/O 15. Plug in |
132 | the Single Line Detector cables with Left being I/O 2 and Right being I/O |
133 | 3.</font></p></td> |
134 | <td align="center" valign="top" ><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/sumo-bot-board-basic-atom-scorpion/WebHome/bbs06.jpg" border="2" hspace="10" ><br> |
135 | <font size="2" face="verdana">Figure 3-1.</font></td> |
136 | </tr> |
137 | <tr> |
138 | <td colspan="2" valign="top"> <a name="sld01"></a></td> |
139 | </tr> |
140 | <tr> |
141 | <td valign="top" ><font size="2" face="verdana"><b>4. Preparing |
142 | the Single Line Detectors</b></font> |
143 | <p><font size="2" face="verdana">Install the charged 7.2vdc battery packs |
144 | and the 9vdc battery. Turn on the power to the electronics only. Adjust |
145 | the sensor positions to as low as possible. Place the robot on the sumo |
146 | ring or other black surface. Adjust the threshold full counterclockwise, |
147 | then clockwise until the red LED just lights. Then roll the robot to the |
148 | ring edge, or other white surface, and the LED should go out. Do this to |
149 | both sides to complete the line detector setup.</font></p></td> |
150 | <td align="center" valign="top" ><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/sumo-bot-board-basic-atom-scorpion/WebHome/bbs07.jpg" border="2" hspace="10" ><br> |
151 | <font size="2" face="verdana">Figure 4-1.</font></td> |
152 | </tr> |
153 | <tr> |
154 | <td valign="top" colspan="2"> <a name="sld02"></a></td> |
155 | </tr> |
156 | <tr> |
157 | <td valign="top" ><b><font size="2" face="Verdana">5. Using |
158 | Single Line Detectors to stay in the ring</font></b> |
159 | <p align="left"><font size="2" face="verdana">Download the latest version |
160 | of the Basic Atom or Pro editor from Basic Micro's. |
161 | Then download the proper program for your processor from Table 5-1. It |
162 | uses the pulseout command, which requires updating every 20 mS. Load the |
163 | program into the editor, and program the Atom chip. The Atom Pro 24 does |
164 | not have a power on reset. This means you should press Reset after |
165 | downloading to start the program running.</font></p> |
166 | <p align="left"><font size="2" face="verdana">This program incorporates a |
167 | five-second delay which is required in sumo competitions. It then |
168 | instructs the robot to go forward. If the white line is detected, the |
169 | robot will stop, back up, and turn away from the detected line. For |
170 | example, if the Left line detector sees the line, the robot will back up |
171 | and turn right. The variable "backup" affects how long the robot |
172 | will back up. The variable "turn" affects how long the robot |
173 | will turn. Watch these videos to see how your robot should be acting: <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/sumo-bot-board-basic-atom-scorpion/WebHome/basumo01.mpg" target="_blank">Without |
174 | opponent</a>. <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/sumo-bot-board-basic-atom-scorpion/WebHome/basumo02.mpg" target="_blank">With |
175 | opponent</a>.</font></p></td> |
176 | <td align="center" valign="top" > |
177 | <div align="center"> |
178 | <center> |
179 | <font size="2" face="verdana"> |
180 | </font><table border="1" bordercolor="#FFFFFF"> |
181 | <tbody><tr> |
182 | <td bordercolor="#808080" bgcolor="#C0C0C0"> |
183 | <p align="center"><font face="Verdana" size="2">Bot Board </font><font size="2" face="verdana"><font face="Verdana" size="2">Pin |
184 | Number</font></font></p><font size="2" face="verdana"> |
185 | </font></td> |
186 | <td bordercolor="#808080" bgcolor="#C0C0C0" align="center"> |
187 | <p align="center"><font face="Verdana" size="2">Connects to...</font></p> |
188 | </td> |
189 | </tr> |
190 | <tr> |
191 | <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana">P0 |
192 | - P1</font></td> |
193 | <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana">Not |
194 | used</font></td> |
195 | </tr> |
196 | <tr> |
197 | <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana">P2</font></td> |
198 | <td bordercolor="#C0C0C0" align="center"><font size="2" face="verdana">Left |
199 | Edge Sensor</font></td> |
200 | </tr> |
201 | <tr> |
202 | <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana">P3</font></td> |
203 | <td bordercolor="#C0C0C0" align="center"><font size="2" face="verdana">Right |
204 | Edge Sensor</font></td> |
205 | </tr> |
206 | <tr> |
207 | <td bordercolor="#C0C0C0" align="center"><font face="Verdana" size="2">P4, |
208 | P5, P6</font></td> |
209 | <td bordercolor="#C0C0C0" align="center"><font size="2" face="verdana">Push |
210 | buttons</font></td> |
211 | </tr> |
212 | <tr> |
213 | <td bordercolor="#C0C0C0" align="center"><font size="2" face="verdana">P7</font></td> |
214 | <td bordercolor="#C0C0C0" align="center"><font size="2" face="verdana">Not |
215 | used</font></td> |
216 | </tr> |
217 | <tr> |
218 | <td bordercolor="#C0C0C0" align="center"><font face="Verdana" size="2">P9</font></td> |
219 | <td bordercolor="#C0C0C0" align="center"><font size="2" face="verdana">(Internal |
220 | speaker)</font></td> |
221 | </tr> |
222 | <tr> |
223 | <td bordercolor="#C0C0C0" align="center"><font size="2" face="verdana">P10 |
224 | - P13</font></td> |
225 | <td bordercolor="#C0C0C0" align="center"><font size="2" face="verdana">Not |
226 | used</font></td> |
227 | </tr> |
228 | <tr> |
229 | <td bordercolor="#C0C0C0" align="center"><font size="2" face="verdana">P14</font></td> |
230 | <td bordercolor="#C0C0C0" align="center"><font size="2" face="verdana">Left |
231 | Motor</font></td> |
232 | </tr> |
233 | <tr> |
234 | <td bordercolor="#C0C0C0" align="center"><font size="2" face="verdana">P15</font></td> |
235 | <td bordercolor="#C0C0C0" align="center"><font size="2" face="verdana">Right |
236 | Motor</font></td> |
237 | </tr> |
238 | <tr> |
239 | <td bordercolor="#C0C0C0" align="center"><font size="2" face="verdana">VL</font></td> |
240 | <td bordercolor="#C0C0C0" align="center"><font size="2" face="verdana">9vdc |
241 | battery</font></td> |
242 | </tr> |
243 | <tr> |
244 | <td bordercolor="#C0C0C0" align="center"><font size="2" face="verdana">VS</font></td> |
245 | <td bordercolor="#C0C0C0" align="center"><font size="2" face="verdana">Not |
246 | used</font></td> |
247 | </tr> |
248 | <tr> |
249 | <td bordercolor="#808080" bgcolor="#C0C0C0"> |
250 | <p align="center"><font face="Verdana" size="2">Download</font></p></td> |
251 | <td bordercolor="#808080" bgcolor="#C0C0C0" align="center"> |
252 | <p align="center"><font face="Verdana" size="2">Description</font></p></td> |
253 | </tr> |
254 | <tr> |
255 | <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana"><a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/sumo-bot-board-basic-atom-scorpion/WebHome/basumo01.zip" target="_blank">Line |
256 | Detectors Program</a></font></td> |
257 | <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana">BASIC |
258 | Atom Pro code</font></td> |
259 | </tr> |
260 | <tr> |
261 | <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana"><a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/sumo-bot-board-basic-atom-scorpion/WebHome/basumo11.zip" target="_blank">Line |
262 | Detectors Program</a></font></td> |
263 | <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana">BASIC |
264 | Atom 28 code</font></td> |
265 | </tr> |
266 | <tr> |
267 | <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana"><a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/sumo-bot-board-basic-atom-scorpion/WebHome/basumo01.mpg" target="_blank">Without |
268 | Opponent Video</a></font></td> |
269 | <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana">Bot's |
270 | behavior without opponent in ring</font></td> |
271 | </tr> |
272 | <tr> |
273 | <td bordercolor="#C0C0C0" align="center"><a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/sumo-bot-board-basic-atom-scorpion/WebHome/basumo02.mpg" target="_blank"><font size="2" face="Verdana">With |
274 | Opponent Video</font></a></td> |
275 | <td bordercolor="#C0C0C0" align="center"><font size="2" face="verdana">Bot's |
276 | behavior with opponent in ring</font></td> |
277 | </tr> |
278 | <tr> |
279 | <td bordercolor="#FFFFFF" align="center" colspan="2"><font size="2" face="verdana">Table |
280 | </font><font face="Verdana" size="2">5</font><font size="2" face="verdana">-1</font></td> |
281 | </tr> |
282 | </tbody></table><font size="2" face="verdana"> |
283 | </font></center><font size="2" face="verdana"> |
284 | </font></div><font size="2" face="verdana"> |
285 | </font></td> |
286 | </tr> |
287 | <tr> |
288 | <td valign="top" colspan="2"> <a name="altsu1"></a></td> |
289 | </tr> |
290 | <tr> |
291 | <td valign="top"><b><font size="2" face="Verdana">6. Alternate |
292 | Startup Behaviors</font></b> |
293 | <p align="left"><font size="2" face="verdana">Download the alternate |
294 | startup behaviors code from table 6-1 and load it into the editor. Program |
295 | the Atom chip. (This program also has the stay-in-the-ring functionality |
296 | of previous programs.)</font></p> |
297 | <p align="left"><font size="2" face="verdana">Now, when you power up the |
298 | robot you can press either the A, B, or C buttons on the board. Each one |
299 | will trigger a different startup behavior routine. For a summary of the |
300 | behaviors and a video example of each, refer to table 6-1. Having multiple |
301 | startup functions available gives you a strategic advantage over the |
302 | opponent. For example, if you know that your opponent always goes forward |
303 | and you don't think that you can get under their scoop, you can choose |
304 | BehaviorA. This will allow you to ram into their side and push them out of |
305 | the ring.</font></p></td> |
306 | <td align="center" valign="middle" > |
307 | <div align="center"> |
308 | <center> |
309 | <font size="2" face="verdana"> |
310 | </font><table border="1" bordercolor="#FFFFFF"> |
311 | <tbody><tr> |
312 | <td bordercolor="#808080" bgcolor="#C0C0C0"> |
313 | <p align="center"><font face="Verdana" size="2">Download</font></p> |
314 | </td> |
315 | <td bordercolor="#808080" bgcolor="#C0C0C0" align="center"> |
316 | <p align="center"><font face="Verdana" size="2">Description</font></p></td> |
317 | </tr> |
318 | <tr> |
319 | <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana"><a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/sumo-bot-board-basic-atom-scorpion/WebHome/basumo03.zip" target="_blank">Alt |
320 | Startup Program</a></font></td> |
321 | <td bordercolor="#C0C0C0" align="center"><font size="2" face="verdana">BASIC |
322 | Atom Pro code</font></td> |
323 | </tr> |
324 | <tr> |
325 | <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana"><a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/sumo-bot-board-basic-atom-scorpion/WebHome/basumo13.zip" target="_blank">Alt |
326 | Startup Program</a></font></td> |
327 | <td bordercolor="#C0C0C0" align="center"><font size="2" face="verdana">BASIC |
328 | Atom 28 code</font></td> |
329 | </tr> |
330 | <tr> |
331 | <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana"><a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/sumo-bot-board-basic-atom-scorpion/WebHome/bbsa01.mpg" target="_blank">BehaviorA |
332 | Video</a></font></td> |
333 | <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana">Bot |
334 | reverses in a Right arc, then goes forward</font></td> |
335 | </tr> |
336 | <tr> |
337 | <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana"><a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/sumo-bot-board-basic-atom-scorpion/WebHome/bbsb01.mpg" target="_blank">BehaviorB |
338 | Video</a></font></td> |
339 | <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana">Bot |
340 | turns in place to the Right, then does a half circle around the |
341 | ring</font></td> |
342 | </tr> |
343 | <tr> |
344 | <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana"><a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/sumo-bot-board-basic-atom-scorpion/WebHome/bbsc01.mpg" target="_blank">BehaviorC |
345 | Video</a></font></td> |
346 | <td bordercolor="#C0C0C0" align="center"><font size="2" face="verdana">Bot |
347 | goes forward at start; "normal" sumo startup</font></td> |
348 | </tr> |
349 | <tr> |
350 | <td bordercolor="#FFFFFF" align="center" colspan="2"><font size="2" face="verdana">Table |
351 | </font><font face="Verdana" size="2">6</font><font size="2" face="verdana">-1</font></td> |
352 | </tr> |
353 | </tbody></table><font size="2" face="verdana"> |
354 | </font></center><font size="2" face="verdana"> |
355 | </font></div><font size="2" face="verdana"> |
356 | </font></td> |
357 | </tr> |
358 | <tr> |
359 | <td valign="top" colspan="2"> <a name="gp2d1201"></a></td> |
360 | </tr> |
361 | <tr> |
362 | <td valign="top"><b><font size="2" face="Verdana">7. Setup of |
363 | Sharp GP2D12 Sensor</font></b> |
364 | <p align="left"><font size="2" face="verdana">For the Atom Pro 24, plug in |
365 | the sensors to P0 and P1. For the Atom 28, plug in the sensors to AX0 and |
366 | AX1. Attach the sensors to the top of the robot as shown in Figure 7-1. We |
367 | used two aluminum Single Ultrasonic Range Sensor Housing kits. You may |
368 | want to use double-sided tape or another method.</font></p> |
369 | <p align="left"><font size="2" face="verdana">Note, make sure the sensors |
370 | are "watching" the correct side of the robot! If you set this up |
371 | incorrectly, your bot will run away from any approaching opponent. The |
372 | sensor in P0 or AX0 should be watching the bot's Left side. The sensor in |
373 | P1 or AX1 should be watching the bot's Right side.</font></p> |
374 | <p align="left"><font size="2" face="verdana">Table 7-1 holds a nifty |
375 | little bit of code that you can use to adjust the position of your Sharp |
376 | GP2D12 sensors. Just make a new .zip file for it.</font></p> |
377 | <p align="left"><font size="2" face="verdana">After you run the code, if |
378 | you run your hand in front of the sensor a note will sound. The note |
379 | raises in pitch as you get closer to the sensor. Note, this code will only |
380 | work for the sensor on P0 / AX0 as is. To adjust the sensor on P1 / AX1, |
381 | change "</font><font size="2" face="Courier New"><font color="#000080">temp</font><font color="#800000">*</font><font color="#FF0000">10</font></font><font size="2" face="verdana">" |
382 | to "</font><font size="2" face="Courier New"><font color="#000080">temp2</font><font color="#800000">*</font><font color="#FF0000">10</font></font><font size="2" face="verdana">" |
383 | and run the code.</font></p> |
384 | <p align="left"><font size="2" face="verdana">This code allows you to |
385 | angle the sensors to look down in front of the robot and get an audio |
386 | signal when they see something. Adjust the sensors as far down as possible |
387 | without hearing sound.</font></p> |
388 | <p align="left"><font size="2" face="verdana">If you want to use Terminal1 |
389 | in the editor to see the values produced by both sensors, remove the |
390 | apostrophe from in front of the </font><font size="2" face="Courier New">serout</font><font size="2" face="Verdana"> |
391 | line.</font></p></td> |
392 | <td align="center" valign="middle" ><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/sumo-bot-board-basic-atom-scorpion/WebHome/bbs08.jpg" border="2" hspace="10" ><br> |
393 | <font size="2" face="verdana"><center>Figure 7-1.</center><br> |
394 | </font> |
395 | <div align="center"> |
396 | <center> |
397 | </center><font size="2" face="verdana"> |
398 | </font><table border="1" bordercolor="#FFFFFF"> |
399 | <tbody><tr> |
400 | <td bordercolor="#808080" bgcolor="#C0C0C0"> |
401 | <p align="center"><font face="Verdana" size="2">Code Snippet</font></p> |
402 | </td> |
403 | </tr> |
404 | <tr> |
405 | <td bordercolor="#C0C0C0" align="center"> |
406 | <p align="left"><font size="2" face="Courier New"><font color="#0000FF">temp |
407 | var</font> <font color="#FF0000">word</font><br> |
408 | <font color="#0000FF">temp2 var</font> <font color="#FF0000">word</font><br> |
409 | <br> |
410 | <font color="#0000FF">test:</font><br> |
411 | <br> |
412 | <font color="#0000FF">adin</font> AX0,<font color="#800000">2</font>,ad_ron,<font color="#000080">temp</font> |
413 | <font color="#808080">'For Atom 28</font><br> |
414 | <font color="#0000FF">adin</font> AX1,<font color="#800000">2</font>,ad_ron,<font color="#000080">temp2</font> |
415 | <font color="#808080">'For Atom 28</font><br> |
416 | <font color="#808080">'adin 0,temp 'For Atom Pro<br> |
417 | 'adin 1,temp2 'For Atom Pro</font><br> |
418 | <font color="#808080">' serout S_OUT,i57600,[dec3 temp\3," |
419 | ",dec3 temp2\3," ",13]</font><br> |
420 | <font color="#000080">temp</font> = <font color="#000080">temp</font><font color="#800000">*</font><font color="#FF0000">10</font><br> |
421 | <font color="#0000FF">sound</font> <font color="#FF0000">9</font>, |
422 | [<font color="#FF0000">10</font>\<font color="#000080">temp</font>]<br> |
423 | <br> |
424 | <font color="#0000FF">goto</font> <font color="#000080">test</font><br> |
425 | <font color="#0000FF">end</font></font></p></td> |
426 | </tr> |
427 | <tr> |
428 | <td bordercolor="#FFFFFF" align="center"><font size="2" face="verdana">Table |
429 | </font><font face="Verdana" size="2">7</font><font size="2" face="verdana">-1</font></td> |
430 | </tr> |
431 | </tbody></table><font size="2" face="verdana"> |
432 | |
433 | </font></div><font size="2" face="verdana"> |
434 | </font></td> |
435 | </tr> |
436 | <tr> |
437 | <td valign="top" colspan="2"> <a name="gp2d1202"></a></td> |
438 | </tr> |
439 | <tr> |
440 | <td valign="top"><b><font size="2" face="Verdana">8. Using |
441 | GP2D12 to Seek Out Opponents</font></b> |
442 | <p align="left"><font size="2" face="verdana">Download the opponent |
443 | detection code from table 8-1 and load it into the editor. Program the |
444 | Atom chip. (This program also has the stay-in-the-ring functionality and |
445 | alternate startup behaviors of previous programs.)</font></p> |
446 | <p align="left"><font size="2" face="verdana">Now when you run this code, |
447 | your bot will be able to detect and chase an opponent.</font></p> |
448 | <p align="left"><font size="2" face="verdana">This code also includes the |
449 | GP2D12 testing code from the previous step. However, you'll need to remove |
450 | the apostrophes from in front</font><font size="2"><font face="verdana"> |
451 | of "</font><font face="Courier New"><font color="#0000FF">goto</font> |
452 | <font color="#000080">test</font></font><font face="verdana">" and |
453 | "</font><font color="#0000FF" face="Courier New">end</font><font face="verdana">" |
454 | </font></font><font size="2" face="verdana">if you want to use it. When |
455 | you want to run the rest of the program, just put the apostrophes back in.</font></p></td> |
456 | <td align="center" valign="middle" > |
457 | <div align="center"> |
458 | <center> |
459 | <font size="2" face="verdana"> |
460 | </font><table border="1" bordercolor="#FFFFFF"> |
461 | <tbody><tr> |
462 | <td bordercolor="#808080" bgcolor="#C0C0C0"> |
463 | <p align="center"><font face="Verdana" size="2">Bot Board Pin |
464 | Number</font></p></td> |
465 | <td bordercolor="#808080" bgcolor="#C0C0C0" align="center"> |
466 | <p align="center"><font face="Verdana" size="2">Connects to...</font></p></td> |
467 | </tr> |
468 | <tr> |
469 | <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana">P0 |
470 | / AX0</font></td> |
471 | <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana">Left |
472 | Opponent Sensor (Watches bot's Left side)</font></td> |
473 | </tr> |
474 | <tr> |
475 | <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana">P1 |
476 | / AX1</font></td> |
477 | <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana">Right |
478 | Opponent Sensor (Watches bot's Right side)</font></td> |
479 | </tr> |
480 | <tr> |
481 | <td bordercolor="#808080" bgcolor="#C0C0C0"> |
482 | <p align="center"><font face="Verdana" size="2">Download</font></p> |
483 | </td> |
484 | <td bordercolor="#808080" bgcolor="#C0C0C0" align="center"> |
485 | <p align="center"><font face="Verdana" size="2">Description</font></p></td> |
486 | </tr> |
487 | <tr> |
488 | <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana"><a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/sumo-bot-board-basic-atom-scorpion/WebHome/basumo04.zip" target="_blank">Opponent |
489 | Detect Program</a></font></td> |
490 | <td bordercolor="#C0C0C0" align="center"><font size="2" face="verdana">BASIC |
491 | Atom Pro code</font></td> |
492 | </tr> |
493 | <tr> |
494 | <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana"><a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/sumo-bot-board-basic-atom-scorpion/WebHome/basumo14.zip" target="_blank">Opponent |
495 | Detect Program</a></font></td> |
496 | <td bordercolor="#C0C0C0" align="center"><font size="2" face="verdana">BASIC |
497 | Atom 28 code</font></td> |
498 | </tr> |
499 | <tr> |
500 | <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana"><a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/sumo-bot-board-basic-atom-scorpion/WebHome/bbs01.mpg" target="_blank">Sees |
501 | Left Side Video</a></font></td> |
502 | <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana">Bot |
503 | sees opponent on Left side and reacts</font></td> |
504 | </tr> |
505 | <tr> |
506 | <td bordercolor="#FFFFFF" align="center" colspan="2"><font size="2" face="verdana">Table |
507 | </font><font face="Verdana" size="2">8</font><font size="2" face="verdana">-1</font></td> |
508 | </tr> |
509 | </tbody></table><font size="2" face="verdana"> |
510 | </font></center><font size="2" face="verdana"> |
511 | </font></div><font size="2" face="verdana"> |
512 | </font></td> |
513 | </tr> |
514 | </tbody></table> |
515 | </body> |
516 | {{/html}} |