Building Packet to be
Sent(bot):
Build_Packet:
GOSUB
Clear_Buffer
header = STX ' build TX packet
cmd =
LightLeds
data1 = 3
GOSUB Make_CheckSum
GOSUB
Show_TX_Packet
lastCmd = cmd |
'This allows a packet to bebuild for sending
'set data value to 3 for sending out, this value can be changed
if necessary to any
byte | Sending the Packet
Built(bot):
TX_Packet:
GOSUB
IR_Buddy_Reset
HIGH TxLED
SEROUT IRbSIO, IRbBaud, [IRbDataTx,
IRbMod, STR buffer\8]
PAUSE 5 |
'Resets the buddy
'sends out the packet
' time
allowed for reciever to pick up data
| Recieve the Packet Back
fromTarget(bot):
|
RX_Packet:
GOSUB IR_Buddy_Reset
SEROUT IRbSIO, IRbBaud,
[IRbDataRx]
SERIN IRbSIO, IRbBaud, 1000, TO_Error, [STR
buffer\8]
IF buffer(2) = 3 THEN DEBUG "RECIEVED!"
IF buffer(2)
= 3 AND radarcount=0 THEN sonic
IF buffer(2) = 3 THEN
turn
IF righton=0 THEN GOSUB radarright
IF righton=1 THEN
GOSUB radarleft |
' prep for 8-byte
RX
'Debugs so that we know that it is recieving the
correct value
'If the value is recieved and IR buddy has not
rotated, then it will go to be adjusted to target
'if it recieves
the right value, it will go to be adjusted
'This adjusts it so
that it will keep searching if target is not
found
| Adjusting the
Turning Once Target is Found(bot):
turn:
radarhold=radarcount
IF radarcount=0 THEN adjust 'the
target
FOR counter=0 TO radarhold
FOR counter1=1 TO
6
PULSOUT 12, 1000
NEXT
radarcount=0
PAUSE 20
FOR counter1=1 TO 4
PULSOUT 13, 823
PULSOUT 14,
805
PAUSE 20
NEXT
radarcount=0
NEXT
radarhold=0
righton=0
GOTO sonic |
'turns the robot in accordance
with the number of
'times the "radar" moved and locks the robot
on with
'Turning IR Buddy
'Turning
entire bot(wheels)
'goes to
be adjusted forward or backwards | Using
the Ultrasonic device(bot):
sonic:
GOSUB Get_Sonar '
take sonar reading
FREQOUT 8, 1, 58500
cm = rawDist / ToCm
DEBUG CRSRXY, 15, 3, DEC cm, CLREOL
GOTO adjust
' -----[
Subroutines
]-----------------------------------------------------
adjust:
IF
cm > 10 THEN forward
IF cm < 10 THEN backward
IF cm = 10
THEN stop1
Get_Sonar:
DEBUG "Sonar Got"
rawDist = 0
FOR
samples = 1 TO 5
PULSOUT Trigger, Trig10
#SELECT
$STamp
#CASE BS2, BS2E
RCTIME Echo, 1, pWidth
#CASE
#ELSE
PULSIN Echo, 1, pWidth
#ENDSELECT
rawDist = rawDist
+ (pWidth / 5)
PAUSE 10
NEXT
RETURN |
'This inputs and adjusts the
bot forwards or backward
' convert to
centimeters
'This sends the program to be
adjusted 10cm
'needed to obtain the sonar distance
'
clear measurement
' take five samples
' 10 uS trigger
pulse
' measure pulse
' measure pulse
'
simple digital filter
' minimum period
between
| Final
Function,Launching of Projectile(bot)
stop1:
FOR counter =1 TO
300
PULSOUT 15, 800
NEXT
STOP
|
'Turns the servo to hit
switch to launch projectile | Recieve Data
from controller(target):
RX_Packet:
SERIN IRbSIO,
IRbBaud, 2000, TO_Error, [STR buffer\8]
errorLevel = %0000 |
'recieves
data | Checks the Data
Recieved(target):
Check_RX_Packet:
IF (header = STX) THEN
rxChkSum =
chkSum
GOSUB Make_CheckSum
IF (rxChkSum <> chkSum)
THEN
errorLevel = errorLevel |
ErrChkSum
ENDIF
ELSE
errorLevel = errorLevel |
ErrHeader
ENDIF |
' save rx
checksum
' calc checksum of data sent
' checks to see data was
sent correctly
| Makes a Packet to
be Sent Based on Data Recieved(target)
|
Make_Packet:
IF (errorLevel = 0) THEN
header =
ACK
ELSE
header = NAK
data1 = errorLevel
ENDIF
GOSUB
Make_CheckSum
Make_CheckSum:
chkSum = 0
FOR idx = 0 TO 6
chkSum =
chkSum + buffer(idx)
NEXT
RETURN
|
'assures
no errors
' checksum of bytes 0 to
6
| Sends Back
Data(target):
|
TX_Packet:
GOSUB IR_Buddy_Reset
SEROUT IRbSIO, IRbBaud,
[IRbDataTx, IRbMod, STR buffer\8]
PAUSE 5
|
'sends
data |
|