机器人行走代码
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' -----[ Title ]-----------------------------------------------------------
' Toddler Program 2.1 - First Steps Forward.bs2
' Run Movement Patters M0 to M8 to take several steps
' {$STAMP BS2}
' {$PBASIC 2.5}
' -----[ Declarations ]----------------------------------------------------
TiltStep CON 5 ' TiltServo step size
StrideStep CON 5 ' StrideServo step size
MoveDelay CON 25 ' in micrcoseconds
RightTilt CON 620 ' Tilt limits
CenterTilt CON 750
LeftTilt CON 880
RightForward CON 650 ' Stride limits
StrideCenter CON 750
LeftForward CON 850
StrideServo CON 12 ' Stride servo on P12
TiltServo CON 13 ' Tilt servo on P13
MoveLoop VAR Nib ' Repeat movements
Pulses VAR Word ' Pulse variable
' -----[ Initialization ]--------------------------------------------------
' -----[ Main Routine ]----------------------------------------------------
' Take three full steps.
Main_Program:
GOSUB M0 ' center servos
GOSUB M1 ' tilt right
GOSUB M2 ' step left
FOR MoveLoop = 1 TO 3
GOSUB M3 ' tilt left
GOSUB M4 ' step right
GOSUB M5 ' tilt right
GOSUB M6 ' step left
NEXT
GOSUB M3 ' tilt left
GOSUB M7 ' center feet
GOSUB M8 ' center servos
END
' -----[ Subroutines ]-----------------------------------------------------
M0:
FOR Pulses = 1 TO 100 STEP StrideStep
PULSOUT TiltServo, CenterTilt
PULSOUT StrideServo, StrideCenter
PAUSE MoveDelay
NEXT
RETURN
M1:
FOR Pulses = CenterTilt TO RightTilt STEP TiltStep
PULSOUT TiltServo, Pulses
PULSOUT StrideServo, StrideCenter
PAUSE MoveDelay
NEXT
RETURN
M2:
FOR Pulses = StrideCenter TO LeftForward STEP StrideStep
PULSOUT TiltServo, RightTilt
PULSOUT StrideServo, Pulses
PAUSE MoveDelay
NEXT
RETURN
M3:
FOR Pulses = RightTilt TO LeftTilt STEP TiltStep
PULSOUT TiltServo,Pulses
PULSOUT StrideServo, LeftForward
PAUSE MoveDelay
NEXT
RETURN
M4:
FOR Pulses = LeftForward TO RightForward STEP StrideStep
PULSOUT TiltServo,LeftTilt
PULSOUT StrideServo, Pulses
PAUSE MoveDelay
NEXT
RETURN
M5:
FOR Pulses = LeftTilt TO RightTilt STEP TiltStep
PULSOUT TiltServo,Pulses
PULSOUT StrideServo, RightForward
PAUSE MoveDelay
NEXT
RETURN
M6:
FOR P
ulses = RightForward TO LeftForward STEP StrideStep
PULSOUT TiltServo,RightTilt
PULSOUT StrideServo, Pulses
PAUSE MoveDelay
NEXT
RETURN
M7:
FOR Pulses = LeftForward TO StrideCenter STEP StrideStep
PULSOUT TiltServo,LeftTilt
PULSOUT StrideServo, Pulses
PAUSE MoveDelay
NEXT
RETURN
M8:
FOR Pulses = LeftTilt TO CenterTilt STEP TiltStep
PULSOUT TiltServo,Pulses
PULSOUT StrideServo, StrideCenter
PAUSE MoveDelay
NEXT
RETURN