Statistics: Posted by i-Bot — Tue Dec 08, 2009 1:49 pm

Statistics: Posted by doddsiedodds — Sun Dec 06, 2009 4:33 pm

Statistics: Posted by i-Bot — Sun Dec 06, 2009 4:31 pm

Statistics: Posted by i-Bot — Sun Dec 06, 2009 3:26 pm

Statistics: Posted by i-Bot — Sun Dec 06, 2009 3:11 pm

Code:

'Initialise Robot'
GETMOTORSET G24, 1, 1, 1, 1, 1, 0, 1, 1, 1, 0, 0, 0, 1, 1, 1, 0, 0, 0, 1, 1, 1, 1, 1, 0 'Setting motor direction
SPEED 12 'Setting motor speed
MOTOR G24
PTP 1

'PLAY SOUND TO show the robot has initialised
TEMPO 230
MUSIC "CDE"

'Declaration of balancing variables
DIM x AS INTEGER   'Setting x input from accelerometer to integer type
DIM y AS INTEGER   'Setting y input from accelerometer to integer type
DIM tip AS INTEGER   'Setting tilt input from tilt sensor to integer type
DIM tol AS INTEGER
DIM oldx AS INTEGER
DIM oldy AS INTEGER
DIM difx AS INTEGER
DIM dify AS INTEGER

x = AD(0)         'Setting x input from A/D port 0
y = AD(1)         'Setting y input from A/D port 1
tip = AD(2)         'Setting tip input from A/D port 2
tol = 20
oldx = 0
oldy = 0

GOTO standing

main:
GOTO art
GOTO main


standing:
'Zero Legs
MOVE G6A, 100,  75, 130, 110, 100, 100
MOVE G6D, 100,  75, 130, 110, 100, 100
'Zero Arms
MOVE G6B,100,  20,  90, 100, 100, 100
MOVE G6C,100,  20,  90, 100, 100, 100
WAIT
RETURN

art:
x = AD(0)
IF x > oldx THEN difx = x-oldx
IF x < oldx THEN difx = oldx-x
IF x = oldx THEN difx = 0
IF difx < tol THEN RETURN
IF x<550 THEN MOVE G6B,,100
IF x<550>550 THEN MOVE G6C,,100
IF x>550 THEN MOVE G6B,,20
oldx = x
RETURN

END

Statistics: Posted by doddsiedodds — Sun Dec 06, 2009 11:33 am

Statistics: Posted by i-Bot — Sun Dec 06, 2009 11:09 am