| The above six legged walking robot uses three servos. One of the servos
is used to rock the body back and forth and in turn lifts up legs 1,3,5
or legs 2,4,6. The other two servos are used to swing legs 1,3 on the left
side or 4,6 on the right side forward and backward.
By performing the sequences in the above-right figure, walking movements
such as forward, reverse, spin left, spin right can be accomplished.
The code below demonstrates the walking sequence and how the IR feature
in the SV200C can be used.
Dim BumpL as Bit 0 of RC
'Sensor 1
Dim BumpR as Bit 1 of RC
'Sensor 2
Dim I as Byte 'Declare Variable
Const StepDelay = 300
Const LeftFwd = 70
Const LeftBck = 180
Const RightFwd = 180
Const RightBck = 70
Const ShiftLeft = 95
Const ShiftRight = 145
fIRenable = 1 'Enable IR receiver
Main:
if fIRaval then 'IR received?
If IRreg = "A" then Call WFwd 'Ch Up
If IRreg = "B" then Call WRev 'Ch Dwn
If IRreg = "C" then Call WLeft 'Vol
Up
If IRreg = "D" then Call WRight 'Vol Dwn
If IRreg = "F" then Call Auto
'Power
fIRaval = 0 'Clear Flag
End if
Goto Main
Servo3 = ShiftLeft 'Step1
Delay StepDelay
Servo1 = LeftFwd 'Step2
Servo2 = RightBck
Delay StepDelay
Servo3 = ShiftRight 'Step3
Delay StepDelay
Servo1 = LeftBck 'Step4
Servo2 = RightFwd
Delay StepDelay
End Sub
Sub WBck
Servo3 = ShiftLeft 'Step1
Delay StepDelay
Servo1 = LeftBck 'Step4
Servo2 = RightFwd
Delay StepDelay 'Step3
Servo3 = ShiftRight
Delay StepDelay
Servo1 = LeftFwd 'Step2
Servo2 = RightBck
Delay StepDelay
End Sub
Sub WLeft
Servo3 = ShiftLeft 'Step1
Delay StepDelay
Servo1 = LeftBck 'Step2
Servo2 = RightBck
Delay StepDelay
Servo3 = ShiftRight 'Step3
Delay StepDelay
Servo1 = LeftFwd 'Step4
Servo2 = RightFwd
Delay StepDelay
End Sub
Sub WRight
Servo3 = ShiftLeft 'Step1
Delay StepDelay
Servo1 = LeftFwd 'Step4
Servo2 = RightFwd
Delay StepDelay
Servo3 = ShiftRight 'Step3
Delay StepDelay
Servo1 = LeftBck 'Step2
Servo2 = RightBck
Delay StepDelay
End Sub
Sub Auto
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