Convert code from Basic Atom to Basic Atom Pro 28

Lynxmotion Electronics & Software
1

I’m trying to get a program converted over from Basic Atom to Basic Atom Pro 28 syntax. I’m very new to this game and could sure use some help.

I have a EH1 kit with the IRPD that I’m using for a school project.

I am really having a lot of trouble with getting my head around how to change the code to make this thing work! I can’t get the H1 to walk at all. The servos seem to be maxxed out when this program starts up and just seems to go through the different branch routines one after another without responding to the IRPD (which I’m honestly not sure is really working correctly).

I’m using the h1walk1.bas file that Jim wrote for the Basic Atom:

[code]'Program: H1WALK.BAS

'Connections:
’ output pin 0 = right servo
’ output pin 1 = left servo
’ output pin 2 = center servo
’ output pin 8 = IRPD Left LED enable
’ output pin 9 = IRPD Right LED enable
’ input pin 10 = IRPD IR sensor output

mydir var byte
temp var byte
xx var byte
lsd var byte 'Holds left servo destination.
rsd var byte 'Holds right servo destination.
csd var byte 'Holds center servo destination.
lsp con 0 'Left servo connected to I/O pin 0.
rsp con 1 'Right servo connected to I/O pin 1.
csp con 2 'Center servo connected to I/O pin 2.
lsm con 150 'Left servo mid position.
rsm con 150 'Right servo mid position.
csm con 150 'Center servo mid position.
irpdl con 8 'IRPD Left LED enable.
irpdr con 9 'IRPD Right LED enable.
lift con 45 '(50max) Sets how far legs lift.
stride con 25 '(30max) Sets how far legs travel.
duration con 9 '(8-25) Variable to control how long pulses are generated.
'Change this to make the robot walk faster.
low 0
low 1
low 2

'loop:
’ pulsout lsp,1500 'left servo pulse output
’ pulsout rsp,1500 'right servo pulse output
’ pulsout csp,1500 'center servo pulse output
’ pause 20
'goto loop

goto start
setuplegs:
lsd=lsm 'Lift left side.
rsd=rsm
csd=csm+lift
gosub pout

lsd=lsm-stride 'Left side back.
rsd=rsm
csd=csm+lift
gosub pout

lsd=lsm-stride 'Lift right side.
rsd=rsm
csd=csm-lift
gosub pout

lsd=lsm-stride 'Right side forward.
rsd=rsm-stride
csd=csm-lift
gosub pout

lsd=lsm-stride 'Lower right side, robot sits flat.
rsd=rsm-stride
csd=csm
gosub pout
'pause 1000

start:
mydir = 0
high irpdl
pause 1 'Turn on IRPD left led.
low irpdl
pause 1 'turn off IRPD left led.
high irpdl
pause 1
mydir.bit0 = in10 'put a 1 in mydir.bit0 if no obstacle was detected.
low irpdl
pause 1
high irpdr
pause 1 'Turn on IRPD right led.
low irpdr
pause 1 'turn off IRPD right led.
high irpdr
pause 1
mydir.bit1 = in10 'put a 1 in mydir.bit1 if no obstacle was detected.
low irpdr
pause 1 'mydir holds;
'3 = no obstacle
'2 = left side obstacle
'1 = right side obstacle
'0 = left and right side obstacle

branch mydir,[backup,turnleft,turnright,forward] 'Make some decisions on the behavior.

forward: 'Go forward.
lsd=lsm-stride 'Left side up.
rsd=rsm-stride
csd=csm+lift
gosub pout

lsd=lsm+stride 'Stride one.
rsd=rsm+stride
csd=csm+lift
gosub pout

lsd=lsm+stride 'Right side up.
rsd=rsm+stride
csd=csm-lift
gosub pout

lsd=lsm-stride 'Stride two.
rsd=rsm-stride
csd=csm-lift
gosub pout
goto start

backup:
for xx = 1 to 4
lsd=lsm-stride
rsd=rsm-stride
csd=csm
gosub pout
next
for xx = 1 to 4
lsd=lsm-stride 'Left side up.
rsd=rsm-stride
csd=csm-lift
gosub pout

  lsd=lsm+stride	'Stride one.
  rsd=rsm+stride
  csd=csm-lift
  gosub pout

  lsd=lsm+stride	'Right side up.
  rsd=rsm+stride
  csd=csm+lift
  gosub pout

  lsd=lsm-stride	'Stride two.
  rsd=rsm-stride
  csd=csm+lift
  gosub pout

next

turnright:
for xx = 1 to 4
lsd=lsm-stride
rsd=rsm+stride
csd=csm
gosub pout
next
for xx = 1 to 3
lsd=lsm-stride 'Left side up.
rsd=rsm+stride
csd=csm+lift
gosub pout

  lsd=lsm+stride	'Stride one.
  rsd=rsm-stride
  csd=csm+lift
  gosub pout

  lsd=lsm+stride	'Right side up.
  rsd=rsm-stride
  csd=csm-lift
  gosub pout

  lsd=lsm-stride	'Stride two.
  rsd=rsm+stride
  csd=csm-lift
  gosub pout

next
goto start

turnleft:
for xx = 1 to 4
lsd=lsm+stride
rsd=rsm-stride
csd=csm
gosub pout
next
for xx = 1 to 3
lsd=lsm+stride 'Left side up.
rsd=rsm-stride
csd=csm+lift
gosub pout

  lsd=lsm-stride	'Stride one.
  rsd=rsm+stride
  csd=csm+lift
  gosub pout

  lsd=lsm-stride	'Right side up.
  rsd=rsm+stride
  csd=csm-lift
  gosub pout

  lsd=lsm+stride	'Stride two.
  rsd=rsm-stride
  csd=csm-lift
  gosub pout

next
goto start

pout:
for temp=1 to duration
pulsout lsp,lsd10 'left servo pulse output
pulsout rsp,rsd10 'right servo pulse output
pulsout csp,csd*10 'center servo pulse output
pause 20
next
return[/code]

Please, someone help!!! I’m probably in over my head at this point and I’m running out of time!
:open_mouth:

2

First things first. Break your project up into bite-size chunks.

Write a program that move one servo.

If you have trouble with that, ask for help.

Once you’ve mastered one servo, then try to move every servo, one at a time.

If you have trouble with that, ask for help.

Now try moving multiple servos at once.

If you have trouble with that, ask for help.

Now write a program to test the IR control. Try to control one servo via IR.

If you have trouble with that, ask for help.

Once you have mastered the IRPD and moving all your servos you won’t need our help.

We’re not here to do your homework… B^)

Good luck on your project!

3

The main difference between the Atom and the Pro as far as this software is concerned is the pulsout resolution. The Atom has 1uS resolution, and the Pro has .5uS resolution. So the values that are used for pulsout have to be doubled. I’m making the changes to the program, but I can’t verify it for you. I put an * by each line I modified…

4

I’ll give it a shot and post the results.

Thanks.