KNOWLEDGE BASE

The simple two wheel robot above is constructed by taping two servos to the back and attaching hobby airplane wheels to the servo shaft. The servo has been modified by removing the internal stopper notch and potentiometer. The potentiometer is replaced with a fix voltage divider resistor or a trim pot. This allows the servo to be used as a continuous spinning motor. The speed and direction, instead of position, can then be controlled with the SV203B or SV203C. The two bump sensors are just switch contacts connected to two of the A/D ports.

The code below can be compiled and downloaded to the SV203B/C and run autonomously.
Dim BumpL as Bit 0 of RC 'Sensor 1
Dim BumpR as Bit 1 of RC 'Sensor 2

Const Stop = 0
Const Fwd1 = 10
Const Fwd2 = 245
Const Rev1 = 245
Const Rev2 = 10

Main:
Servo1 = Fwd1 'Forward
Servo2 = Fwd2
If BumpL = 1 then
Call HitLeft
End if
if BumpR = 1 then
Call HitRight
end if
goto Main

Sub HitLeft
Servo1 = Rev1 'Reverse
Servo2 = Rev2
Delay 1000 '1 Sec delay
Servo1 = Fwd1 'Spin Right
Delay 500 '0.5 Sec delay'
End Sub

Sub HitRight
Servo1 = Rev1 'Reverse
Servo2 = Rev2
Delay 1000 '1 Sec delay
Servo1 = Fwd2 'Spin Left
Delay 500 '0.5 Sec delay'
End Sub

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