I just got the part I need for the "start here" bot, which is the new GP2Y0A02YK0F. My first problem is, I can't remove the old GP2D12 from the cable that connects it to the PICAXE board. If I am also correct, The setup should be the same as the old GP2D12 right? Like where the wires are supposed to go?
EDIT: Okay, I got it working kind of. I see one infrared light on in the sensor, but the other doesnt show anything. Is it supposed to light up? Secondly, When i use the program on the "start here" page, My robot just looks left and right, turns, and repeats. Never drives forward. Any suggestions?
EDIT2: Well, after much struggle, I am at a loss. I have nothing else to do. The Sharp IR lights up, no smoke or smells, but whatever I try I just cannot get it to recognize my hand at all. Its hooked up correctly, I am sure of it. I measured 20cm back from the sensor, no response still. I am afraid that I must give up on this if I can't figure out a solution.
Well I can’t really exchange the pins since everything is already glued together. I could change the code but I am not exactly sure how to put it in. The values that worked for me were:
’ This is the program ued to make the video on letsmakerobots.com/start. The program is optimized to make the robot look alive on video, and so it is made to stop up and look around at objects. and if it finds something close (like the camera it stops and animates. ’ The program is not optimized for abject avoidance or anything else like that. ’ Makes a cute robot, though And if you made the robot just like the instructions, it should be ready to just download and run!
wait 5 ’ just to give you time to put it down on the table
symbol way = bit0 ’ which direction is head moving symbol neck = b1 ’ value for servo turning Sharp symbol maxdistvalue = b2 ’ max value for distance when panning symbol maxdistvaluepos = b3 ’ position where maxdistvalue is achieved symbol dist = b4 ’ Value returning from Sharp. non liniar, closer is higher, 35 is 40cm away, but from 100-150 (10 CM) it starts to count dramatically down symbol lastturn = b5 symbol sharppin = 0 symbol servocenter = b6 symbol soundvar = b7 symbol servopin = 0
if dist > 60 and dist < 80 then ’ hey, something ahead, turn a little to the side we where turning last time servocenter = 150 gosub lighton if lastturn > 175 then gosub driveright inc lastturn else gosub driveleft inc lastturn end if gosub lightoff goto main end if
if dist >80 and dist < 115 then ’ Hey, lets have a look around servocenter = 150
gosub totalhalt ’ stop pause 500 ’ make a natural stop gosub choser ’ enter subroutine that decides where to look and stuff goto main ’ now return and see if all is OK, and we can proceed endif
if dist >= 115 then ’ danger: Something is close servocenter = 150 gosub totalhalt ’ stop gosub hard_chose goto main endif
if dist < 90 then ’ no danger. we can proceed gosub driveforward ’ drive forward endif
if dist < 40 then ’ Absolutely no danger. Look around while drivin
if way = 1 then servocenter = servocenter +1 max 225 else servocenter = servocenter -1 min 75 end if if servocenter = 225 or servocenter = 75 then inc way
for neck = servocenter to 75 step -1 servo servopin, neck ’ turn neck pause 30 ’ allow servo to turn gosub distance ’ measure distance if dist >70 then ‘pause 50 ’ move hed slower on closer objects ‘neck = neck - 3 min 75 end if if dist > maxdistvalue then maxdistvalue = dist maxdistvaluepos = neck end if next neck servo servopin, maxdistvaluepos wait 1 servo servopin, servocenter pause 50 ’ turn neck
for neck = servocenter to 225 step 1 servo servopin, neck ’ turn neck pause 30 ’ allow servo to turn gosub distance ’ measure distance if dist >70 then ‘pause 50 ’ move hed slower on closer objects ‘neck = neck + 3 max 225 end if if dist > maxdistvalue then maxdistvalue = dist maxdistvaluepos = neck end if next neck
’******** ’ maxdistvaluepos is now where the closest object is ’here should be inserted: If really close, have a look, pause and move on if maxdistvalue > 121 then servo servopin, maxdistvaluepos wait 2 for soundvar = 120 to maxdistvalue sound 4, (soundvar, 1) pause 1 sound 6, (soundvar, 1) pause 1 sound 1, (soundvar, 1) pause 1 sound 1, (soundvar, 1) pause 1 next soundvar end if ’wait 1 ’ look back at the closest object
’’’’’’’’’’’’’’’’’’’’’’’’’’’’’’’’’’’’’’’’’’’’’’’’’’’’’’’’’’’’’’’’’’’’’’’’’’’’’’’’’’’’’’’’’’’’’’’’’’’’’’’ 'calculate opposite: if maxdistvaluepos <= 150 then neck = 150 - maxdistvaluepos neck = neck +150
servo servopin, neck ’ turn head to opposite maxdistvaluepos = neck pause 200 'start turning body and all for neck = maxdistvaluepos to 150 step -1 servo servopin, neck ’ turn neck while turning body gosub driveright pause 3 lastturn = 175 next neck
dontstopturningA: ’ keep turning till we are frr in front gosub distance if dist > 60 then goto dontstopturninga else maxdistvaluepos = maxdistvaluepos -150 neck = 150- maxdistvaluepos
servo servopin, neck ’ turn head to opposite maxdistvaluepos = neck pause 200 'start turning body and all for neck = maxdistvaluepos to 150 step 1 servo servopin, neck ’ turn neck while turning body gosub driveleft pause 3 lastturn = 0 next neck
dontstopturningB: gosub distance if dist > 60 then goto dontstopturningB
end if
’servo servopin, neck wait 10 ’ look away from closest
Symbol dangerlevel = 70 ’ how far away should thing be, before we react? symbol turn = 300 ’ this sets how much should be turned symbol servo_turn = 700 ’ This sets for how long time we should wait for the servo to turn (depending on it´s speed) before we measure distance
main: ’ the main loop readadc 0, b1 ’ read how much distance ahead if b1 < dangerlevel then gosub nodanger ’ if nothing ahead, drive forward else gosub whichway ’ if obstacle ahead then decide which way is better end if goto main ’ this ends the loop, the rest are only sub-routines
nodanger:’ this should be your combination to make the robot drive forward, these you most likely need to adjust to fit the way you have wired your robots motors low 4 : high 5 : high 6: low 7 return
whichway: gosub totalhalt ’ first stop!
‘Look one way: gosub lturn ’ look to one side pause servo_turn ’ wait for the servo to be finished turning readadc 0, b1 gosub totalhalt
’Look the other way: gosub rturn ’ look to another side pause servo_turn ’ wait for the servo to be finished turning readadc 0, b2 gosub totalhalt
’ Decide which is the better way: if b1<b2 then gosub body_lturn else gosub body_rturn end if return
body_lturn: low 5 : high 4 : high 6 : low 7 ’ this should be your combination that turns the robot one way pause turn : gosub totalhalt return
body_rturn: low 4 : high 5 : high 7 : low 6 ’ this should be your combination that turns the robot the other way pause turn : gosub totalhalt return
rturn: servo 0, 100 ’ look to one side return
lturn: servo 0, 200 ’ look to the other side return
totalhalt: low 4 : low 5 : low 6 : low 7 ’ low on all 4 halts the robot! Servo 0,150 ’ face forward wait 1 ’ freeze all for one second return
Run that and see if you are getting numbers from your sharp. --I assume you have gotten all the highs and lows worked out so your motors go the way you want them?
I am not getting any change when I use all of the pin numbers I can tell. It worked when I first bought it. Also, the IR light is on when I look into it, but only one of them? It was like this as soon as I turned it on.
You simply need to do some checking of your senor and the good news is that there are only a few things that can be wrong.
First off, triple check your pins. I am figuring you have a pigtail that came with or matches your sensor. The first thing to do is goto any webshop that sells that sensor and find the PDF data sheet that comes with it. Find the pinout diagram and confirm that the colors of the pigtail are indeed what you think they are. Next, consult /node/75 and triple check those wires are going to the correct pins on the picaxe board. Also note what ADC input you are using. I think we have decided you are using adc 0 (closest to the headphone jack) but again, double check with /node/75.
You may also want to pull the other adc pins down to ground using a little jumper block over the pins. This may or may not be an issue. You can skip this for now --if everything else does not work, you can come back to this.
Plug everything in and check with a digital camera. To the naked eye you should/may see a dim red light in one of the “lenses” on the sensor. Using a camera, you should see a bright purple light. Confirm this.
Run this:
main:
readadc 0,b1
debug
goto main
You should now be able to wave your hand in front of the sensor and see the value of b1 change as your hand moves closer to the sensor and further away. If not, we have one more check…
Grab your multimeter and set it for DC and whatever is closest to 5v. The black lead goes to any ground you can find on the board or battery, the red lead goes to the signal pin on your sensor. You should see the voltage change when you do the hand test. --The multi-tester test must be done when the sensor is powered with 5v (like it would be during normal use).
If we fail the debug test and/or we fail the multimeter test, your sensor is fried or you need to do another round of checking wires and pinouts. If it works, we can move on to why your code is not dealing with it.
–Just a thought, when was the last time you changed your batteries?
I dont see a PDF file other than a data sheet, is that what I want? Second, I used this picture to help me know where to plug things in. http://img854.imageshack.us/i/headpins.jpg/
Next, I checked the node/75 and all of my wires are connected right. (I assume from my mediocre knowledge) I already have a jumper block over the other pins, so that isnt a problem. When I look at it plugged in, the light does show, so I know it cant be fried. Still doing the readadc debug I do not get any results moving my hand in front of the sensor. I will do the multimeter test in just a bit, I just have to find it. I am using 3 AA batteries in a 3 battery clip, all 1.5v. The batteries are brand new and from the package.
it stops and animates.
And if you made the robot just like the instructions, it should be ready to just download and run!