AIRAT2 USER MANUAL
Contents
1. Table Transfer To transfer the table of distance vs magnitude of reflected light to the PC with serial communication While in operation a message Which Table will flash then a message L_Front Table will flash Press the S2 select key to select the sensor you want to transmit and then press the S3 enter key to transmit the table values When you want to continue transmitting other sensor tables use the S2 key to select again In order to confirm the transmitted value on the PC use the SERIAL57 EXE util folder or hyper terminal utility of Windows or other serial communication program The transmission format is 57 600 bps N81 No parity 8 bit data 1 stop bit Use the hyper terminal to capture the value and use the correct DEFLT_T INC default table array file You can then make and insert a table suitable to your maze in the program Of course you must compile to do that Left_45 L_Front EL 1KL YELLOW Figure 3 3 Sensor placement Get Sample While operating at 240 pulses it memorizes the distance value of all the sensors After acquiring the value it automatically goes into serial transmission mode Here you have three selections L L45 R45 LF RF Use the 52 key to select one and use the 53 key to transmit the value In order to transmit the second data block press the S3 key once more After the transmission is complete use the S2 key to transmit the reflected light table of the other sensors Mem2. ine 06 CLK 8 2 rr TD62003 74HC574 1 T3 AIN1 k 103 TEST a T4 voc AIN2 JP5 iy d zb JP6 1 103 TEST R L 9 AIN2 TRINI IR1 1 2 TR_IN1 ci9 LEFT LED 2 ds RIGHT LED TR_IN2 IR2 2 BUZZER ae TEST AING TR_INS IR3 4 3 TR_IN4 IR4 5 4 103 05 9 10 P p4 lt IR5 6 5 c20 11 12 D3 9 2 TR_ING IR6 TR_ING Di 135 14 DO LKL PULSE0O 6 5 R v O15 16 4 3 hws VEC x O17 18 H 103 diaa 50 HEADER 7X2 cat Oia 455 t ali HEADER 8X2 4 7K _AIN5 923 24 cP B 25 26 FRONT LED C22 15 ar 28 AING 0 29 30 031 32 O 33 34 P RESET 103 TEST HEADER 17X2 RP6 2 RaJa AIN2 4 U7 6 12575 vec AN6 54 4 2 o vin 10K 1 OUT 2 LON JP9 a 330uH HEADER 2 z 5 l c16 Rt 1 JP3 2 05 2200 1K D1 12 T lt C13 TEST TEST 15 LED 2 1N5819 i HEADER 2 100uF 25V HEADER2 4 4 4 4 Microrobot Co Ltd Title AIRAT2 Size Document Number Rev B n Date Sheet d Saturday July 01 2000 2 uPA TRANI 9 14 13 12 11 10 9 8 TRINS T
3. Now S3 4 If a second run test is required Second Go 3 level 0 4 Motor Now S3 5 Program Explanation 1 Simulator Program Al_SIM5 EXE is the mouse simulation program If you run the program the menu below will appear 1 Load maze Reading the maze Run Run Step run Not running now Edit maze Maze editor Save maze Clean trace To erase trace Clean maze Erase the maze completely Quit oN OO KR WO N Press the arrow key or key in the numbers or use the space bar and press the enter key to start operating On the bottom right hand side of the screen the applicable operation menu will appear If you wish to quit during the run you must press the Esc key several times You can make this simulation program by compiling the provided source file with Borland C BC EXE compiler The file provided is as such 51 5 Project File Al_SIM5 CPP Main Project Source Al_GRAPH1 CPP Functions about graphics Al1 H Header file MAZ Maze file Al_SIM5 CPP are bound to the Al_SIM5 PRu project file The source is all in C language The algorithm or functions used in the simulator are almost all used in the real mouse program Therefore it s a good idea to learn and test the algorithms in the simulator before starting to learn the real mouse program To explain the whole program would be too much It would probably turn out to be quite a
4. Fo 12 CLK R 1f Fo 12 INB1 220uF 25V ll z DRL 2 nf 1 INA2 DIR R 2 13 82 14 __ 3 14 1 83 INA1 6 2 F2 2 F2 INA VSA 10K 418 15 INA4 4 15 INB4 Gee INA VSB NA 37 16x 15 INAS INB INAS 46 x F5 x F5 HZ x INB 91 23 l6 Fe l6 Fe C1 2200pF OUTA Ta 92 F7 19 8 7 F7 19 OUTA 9107 9107 R2 al Rsa ours eit 4 L_MOTOR 11 11 510 p 18 9 9 OUTB 95 16V8 128 16V8 2 RERA 6 1 2 14 REFB TDA 2 1 HEADER 6 3 C2 113 3 VCC 4 L 10 asp GA 4 5 GB 5 VR1 2200pF 400 2 2K SLA7024M 47K voc RS R6 1 1 vec 1 2 P1 3 J RP4 1 MVCC 1K 81 82 ss X PUSH SW PUSH SW PUSH SW cio 7 2200 25V U4 RESET INB1 6 02 DS INB2_ 5 yen LED LED LED INB3 17 Ne JP2 INB4 16 NB di LEFT LED RIGHT LED FRONT LED 1 9 2200 OUTA 2 OUTA 8 9 R_MOTOR RSA outs H 4 outs 18 95 tis REFA 6 HEADER 6 D1 9 14 REFB TDA 2 V 2 Q2 18x U6 Voe C4 13 m ie R1 _ D3 H 14 Qo IRZ RSB GA His ig 2 a5 R2 _ D4 Q4 IN1 Q1 GB 05 05 H 2 Q2 4 3 a 2200pF lt 14 4 13 184 SP1 SLA7024M c7 06 96 Tia 5 13 93 12 185 PIEZO R7 07 Q a4 186 D8 08 BUZZER 145 95 io 1 1 470pF 470pF
5. S3 keys on the JS8051 A2 board Thus it is convenient to use the big push switch on AIRAT2 when downloading The mouse starts operating with a beeping sound after downloading the flash memory Don t forget to push JP6 s jumper block and restart after downloading After the mouse starts the role of the S2 S3 key is determined by the mouse program In the demo program provided the functions are 52 Change menu key also the cancel key S3 Enter key After the mouse is turned on the LCD displays the operation menu You can change the menu by pressing the S2 key To operate the chosen appearing function press the 3 key When there are more sub menus to choose press selection S2 key and then performing S3 key If after performing the sub menu you want to choose a main menu press the reset key and start again from the beginning Don t worry about the previously chosen menus they will be maintained However be aware that all information in the memory will be erased if the power is switched off 2 Main Menu First Go First run While investigating the maze the mouse stores information about the wall and determines the center goal When the first run starts the existing wall information is completely erased and it receives new wall info When the S3 key is pressed the message Motor on Run now appears This means The power is supplied to the motor and shall If you want to start press the S3 key Second Go It
6. be appropriate The mouse moves backward then forward slowly making the two front tables Figure 3 1 Generating front sensor table data Side Table To create the four side wall sensor tables A message Motor On Run now will flash upon pressing the S3 key Place the mouse in the center of an area enclosed by left and right walls and press the S3 key to operate Then the mouse will move left and right creating the tables Next a message right most plz will flash Place the mouse very close to the right wall and press the S3 enter key After a beep a message left most plz will flash Place the mouse very close to the left wall and press the S3 enter key The table is created when the beep sounds Figure 3 2 Generating side sensor table data Sensor Test Testing the selected sensor Select the sensor you want to operate by pressing the S2 key This will be indicated on the LCD by the display value of the selected sensor In a case where two sensors have been selected the upper line will be the read value and the bottom line will be the appropriate distance according to its value If the four sensors are selected only the distance to the wall will be displayed If you want to test other sensors press the S3 enter key and then the S2 select key to select again LF RF Left Front amp Right Front L45 R45 Left 45 amp Right 45 L Left amp Right L45 R45 L Left 45 Right 45 Left amp Right
7. forward movement change_run_table2 void Change the right angle turn into a smooth turn set_count_Il WORD The function for setting up the v value of the outer timerO inside M4 64 32 that controls the left motor This value shows when the next interrupt will come it s a time constant The bigger the value the longer intervals between interrupt and the motor will turn more slowly It is not just writing the v to the timer0 It changes the proportion of v according to the trim_flag set_count_r WORD v set_count_r has the same ability as set_count_1 but applicable to the right motor EX0_int void This is interrupt O s ISR Interrupt service routine and it manages the left motor At the end of the function 8051 inside timer interrupt 0 flag is set to 1 this is in order to make a sensor interrupt timer interrupt 0 You can see the sensor interrupt is executed every two interrupt 0 Because of the CPU speed a slight expedient was used 1 int void This is interrupt 1 s ISR Interrupt service routine and it manages the right motor TO_int void The function of adjustment that is considered the most difficult It is forcefully called from This happens here for position adjustment and others such as distance adjustment T1_int void It periodically reads the sensors Whenever an interrupt happens it only reads the two sensors and renews 3 Miscellaneous Program In the utility fo
8. 2 AIRAT2 Program The program given for operating AIRAT2 is given as such Al2_DEMO C Main program Al_BASE H Definition about mouse hardware and basic functions Al_SIM1 H_ The header file used the simulator Used in Al2_DEMO C too A2_SERIAL H Serial library definition A2_LCD H LCD library definition A2_DELAY H Delay library definition A2SERIAL RO03 Serial library A2LCD RO03 LCD library A2DELAY RO3 Delay library Library of basic function of the mouse GO_TABLE INC Acceleration table 90_TABLE INC 90 turn rectangular turn table 180TABLE INC 180 turn table SMOOTH INC 90 turn smooth turn table DEFLT_T INC Default table of distance vs reflected light JS51A2M XCL Linker control file of JS8051 A2 board X BAT A batch file summing up compile link bin conversion downloading and more SET_IAR BAT A batch file the author uses for creating IAR environment Must use after adjusting according to your environment A2_DEMO BIN Executable file of A2_DEMO C You can use this by downloading on JS8051 A2 board directly The central algorithm of Al2_DEMO C program is almost the same as the simulator program Functions for controlling the hardware directly have been supplemented and the functions relating to graphics were removed since they were not needed To understand the mouse program immediately is too difficult You must understand the simulator source before yo
9. AIRAT2 USER MANUAL Contents AIRAT2 1 Specifications 2 Introduction 3 Features 4 Battery 1 Connection 2 Charge MOUSE OPERATION 1 Introduction 2 Downloading Program 3 Mouse Operation and Main Menu 1 Key Operation 2 Main Menu 4 RUN Test 5 Program Explanation 1 Simulator Program 2 AIRAT2 Program 3 Miscellaneous Program 6 Driving Stepping Motor Main Board Silkscreen Main Board Schematic Sensor Board Schematic AIRAT2 1 Specifications Description 114 x 88 mm CPU BOARD JS8051 A2 with LCD PORN ROME 144 x 67 mm Aluminum WHEEL Aluminum Wheel 51 3 with rubber 2 small size Ball Caster x 2 MOTOR Stepping Motor H546 x 2 SENSOR IR LED EL 1KL x 6 Photo TR ST 1KL x 6 BUZZER Piezo Buzzer BTG 47 driving by frequency 1 Power LED 3 User LED Reset User Key x 2 SERIAL RS232C 115 200 bps down loading BATTERY Packed NiMH 7 2 Volt 450 mAh x 2 POWER DC 14 4V OTHER User program can be downloaded to RAM or FLASH memory with default 115 200 bps FLASH memory works like EEPROM Serial Cable Sample Program C Language Serial Downloading Program amp Utilities Software Mouse Simulator amp Source Borland C 2 Introduction AIRAT2 is a micromouse robot which uses an 8051 CPU The AIRAT2 emits a beam of infrared light and uses sensors to receive the amount reflected back The CPU board utilizes the JS8051 A2 board The JS8051 A2 is very well constructed It uses powerful ou
10. No OPeration 9 main menu is empty Front Table Load default Load default table newly make table right most plz make table 5 left most plz make table 6 Side Table make table 1 2 3 4 L45 R45 L R 145 45 R Table Transfer L_Front Table Left Table Left_45 Table Right_45 Table Right Table R_Front Table Get Sample 9 No OP Go Block Level Level Figure 3 4 Main menu 4 RUN Test To run the mouse a maze is needed A 16 x 16 full maze is ideal but a 9 x 9 maze will suffice Because the targets 7 7 7 8 8 7 8 8 are in the maze you can test the second run However if a 9 x 9 maze is unavailable a 5 5 maze must be used If in the 5 x 5 maze the mouse cannot find the goal it realizes there are no other paths to follow and will stop It is possible to program the mouse to search for the goal at position 4 4 but this is too small a sample area to do many tests If one has a proper maze with a suitably positioned goal test the mouse as explained below Ensure that the motor current limit potentiometer is set properly and that the battery is charged 1 Create the front table Front Table Menu S3 Load Default S2 Motor run now S3 2 Create side table Side Table Menu S3 Motor On Run Now S3 right most plz Place it along the right wall 53 left most plz Place it along the left wall 53 3 First Run Fist Go S3 Motor
11. R_IN6 96 5 4 O 2 1 HEADER 7X2 1 at SK ST AKL 1 1 L_Front Ky STKL TR_IN2 Left ST 1KL TR_IN3 Left_45 SK Sk 4 TR_IN4 Right_45 _ os ST 1KL TR_INS Right os Ka STKL TR_ING R_Front BLACK Microrobot Co Ltd Title AIRAT2_SENSOR Size Document Number B Date Saturday July 01 2000 Sheet 1 2
12. Transfer Transmit the value of the byte array mem 256 The mem 256 is a defined global variable in the program This value does not become erased even if the reset key is pressed The mem array is for debugging While the mouse is moving you can confirm the value by saving the value you want to know in the mem 256 and then enter into this menu and serial transmit through the PC Real time monitoring is difficult for the mouse This is because it uses independent power to move about I have looked into using the RF module for wireless transmission but there was no time to serial transmit during a fast run Even if the system was faster the serial interruption would have had considerable effect on the mouse program Therefore as a counterproposal have thought of this Try it You ll find that it s very convenient with no burden on the main program User Test This was devised to allow the user to test any special mathematical functions we have entered for default For example LT 0 Left turn RT 1 Left turn static turn UT 2 U turn Go 400p 3 Go 400 pulses Go Block 4 Go 1 Block The mouse goes forward one block 180mm If it doesn t reach 180mm the wheels will spin and or skid In this case the skidding and or spinning state must be reduced as much as possible by adjusting the AIRAT2 potentiometer VR1 Level 5 empty Level 6 empty The empty spaces can be filled and used as a option by the user 9 No
13. _abs_path Fill up to 0 from point 0 0 to the current position of the mouse trace_vir_abs_path Create an imaginary route from point 0 0 to goal_x goal_y make_run_table x1 y1 x2 y2 dir Create a run_table from point x1 y1 to x2 y2 In the run_table there are sequences that the mouse must take For example left turn forward forward right turn forward stop mark_count_array_with_zero x y Fill the path count array up to 0 from point x y to the current position of the mouse set_nearest_vrstack_position Place the position on the vrstack that would be the closest to the current position on the upper most of the vrstack In other words sort by distance fastrun Run according to the run_table contents turn2dir dir turn When the mouse is going in the dir direction turn it in the turn direction then return to the direction the mouse would get search_goal make_virtual_goal_map mouse_x cur_dir go_vir_stack_position Memorize after reading wall information goal Is the goal Figure 5 1 Flow chart of first go find_more_short_path real map count 0 0 virtual map count 0 0 make_virtual_map goal_x goal_y 0 0 goal_dir set_nearest_vrstack_position make_virtual_map mouse_x mouse_y vrstack x vrstack y cur_dir go_vir_stack_position Memorize after reading wall information Figure 5 2 Flow chart of second search
14. d the JS8051 A2 doesn t control it Therefore AIRAT2 is made to move according to default 1 2 phase half step driving method If you want to change to the 2 phase driving method short the SMD jumper JP8 If changed to the 2 phase the motor interrupt will decrease and the mouse will speed up but it will spin and or skid and will lose its reliability and become unstable It is understood that to use the 2 phase driving method all aspects of the program must be correct It appears that the 1 2 phase driving method is more advantageous than 2 phase method for this mouse www microrobot com Board Silkscreen MVCC vec u1 u2 C9 9 CLK L f
15. determines the middle goal with the stored wall information Level 0 It goes to and from the goal by making rectangular turns Level 1 It goes to and from the goal by making smooth turns Level 2 The speed increases slightly from level 1 make smooth turns Level 3 The speed increases slightly from level 2 and make smooth turns Level 4 The speed increases slightly from level 3 and make smooth turns Front Table To create the two front wall sensor tables When you press the S3 key the message Load default comes up This prompt is asking whether you re going to use the table values already in the mouse This value is the result of previously entered sample values that were written to ROM Therefore there could be a difference between the ROM s data and the sampling data of the maze if you change the maze environment or the sensors In this case it is a good idea to press S2 cancel key and begin making a new table If instead of pressing 52 key you press 53 the table in the ROM is used as the sensor table If you want to create a new table of distance vs magnitude of reflected light press S2 Then a message will flash Motor On Run now Now place the mouse against the front wall of the maze Be sure that there is no room between the mouse and the front wall Next press the S3 enter key Remember to give the mouse approximately 25 cm 9 84 in 0 82 ft of space to move backwards An empty space of three blocks should
16. ies regularly When the batteries are warm stop charging MOUSE OPERATION 1 Introduction A mouse is a robot which finds its way through a 16 x 16 block maze Please refer to mouse_rule e htm on the enclosed CD The mouse begins by acquiring information about the walls The first time the mouse goes through the maze it does so without knowing anything about the maze After it reaches the goal of the maze it returns to the beginning and runs through the maze second time On the second run through the mouse uses information it learned its first trip This time it make no wrong turns and travel faster It again returns to the beginning and repeats the process going quicker each time AIRAT2 is a magnitude of reflected light type of robot It projects a beam of infrared light at a wall and judges distances by the amount of light reflected back It creates and uses its own table of A D converted values of the amount of light vs distance to a wall The magnitude of reflected light vs distance table varies slightly depending upon the infrared emitter sensor ambient light wall status etc It would be more exact to create the table beforehand but this is not necessary 2 Downloading Program In order to test the mouse you must transfer the provided Al2_DEMO BIN program to the flash memory of the JS8051 A2 CPU board To do this it is necessary to read the JS8051 A2 CPU board manual first Transmit Al2_DEMO BIN following the steps be
17. l e Arrangement of LED with design in mind and clean cable disposition e Assembly instructions and user s manual 4 Battery 1 Connection The AIRAT2 uses two 7 2V NiMH 450mA packed batteries One is at the front and the other is at the back of the robot Connect the front battery to the JP3 and the rear battery to the JP4 which are underneath the AIRAT2 main board The batteries might not be fully charged upon purchase 2 Charge A power supply is required to charge the batteries which have a current limitation function The two batteries should be connected to the robot main board before charging 1 Set the power supply voltage to 17V and max current to 200 mA At this setting the power supply provides 17V up to 200 mA of current output This is called CV Constant Voltage mode The power supply provides a constant 200 mA even if the outside circuit requires more than 200 mA This is called CC Constant Current mode Generally a power supply has LED s to indicate the CV and the CC mode 2 Connect the provided charging cable to the JP9 port on the main board 3 Connect the charging cables RED BLACK to the power supply 17V 200mA current limit Pay attention to the polarities 4 The charging time depends on the battery s state and the charging current In the case of totally discharged battery it will take approximately 3 hours with 200mA charging current 5 Over charging produces heat Check the batter
18. lder there are some acceleration table and sources to generate them If you use Borland C 3 1 you can compile You can get the table when you use redirection gt Example A2_TABLE gt GO_TABLE INC Figure 5 3 Outlines of AIRAT2 6 Driving Stepping Motor AIRAT2 utilizes two PLDs Programmable Logic Device to generate control signals for the two stepper stepping motors Each PLD 16V8 controls each motor The PLD 16V8 can generate a two phase on full step 2 phase signal and a half step 1 2 phase signal AIRAT2 uses half step signal to drive stepper motor Two SLA7204Ms unipolar stepper motor controller driver are used as stepper motor drivers Refer to the pdf data in the CD for more details The provided two 16V8 chips are already programmed The PALASM source and jed file of the PLD are provided in the CD CLK_L R Clock for the motor The speed of the clock is the speed of the motor DIR_L R Direction of the motor O counterclockwise 1 clockwise EN_L R Motor enable 0O enable Turn 1 disable Turn off PHASE Driving method select 0 2 phase 1 1 2 phase Table 6 1 Signals for 16V8 PLD A stepper motor steps by switching the windings in sequence The following two modes are available for the AIRAT2 AIRAT2 uses a half step mode as default 1 energize 0 de energize Table 6 3 Half step mode 1 2 phase The PHASE signal outputs are pulled up refer to schematic to the VCC an
19. low Connect the serial cable PC with the JS8051 A2 CPU board Go to DOS mode in the PC Go to the AIRAT2 folder After that type the following UPA2H Al2_DEMO BIN 4 Press Enter The PC is now ready for transmission If the JP6 s jumper block is pressed in on the JS8051 A2 CPU board pull it out Turn on the power when the AIRAT2 s S3 blue key is pressed Then remove your finger from the S3 key When the S2 green key is pressed serial downloading begins Then the transmitting byte is shown on the PC monitor When transmission is complete press the jumper block of JP6 press reset button or turn it off on the JS8051 A2 CPU board After the beep sounds the LCD will work This means the mouse is working properly If it makes a low sound remove the buzzer s waterproof tape Turn the potentiometer R4 on the JS805 A2 board counterclockwise as far as it will go Then position the potentiometer VR1 on the bottom left side of the AIRAT2 main board to one o clock This potentiometer is able to set up electric current to the motor If the current is set too low the motor will have no power However if it is set too high it will just eat up power and cause the mouse s wheels to slide when starting Set the dial to the 1 o clock position Figure 2 2 Setting the potentiometer of AIRAT2 3 Mouse Operation and Main Menu 1 Key Operation The three keys S1 red S2 green S3 blue on the AIRAT2 main board have the same function as 1 S2
20. thick book This is an outline to explain the functions initialize_data Set up information about maze walls beforehand According to convention the maze perimeter must be 16 x 16 and enclosed Three walls are closed at the starting point The mouse s starting point coordinates are 0 0 and it is directed north make_real_map x1 y1 x2 y2 dir Create a path by what it knows from points x1 y1 to x2 y2 Set count direction array value Assume that unknown routes are blocked make_virtual_map x1 y1 x2 y2 dir Create an imaginary path from point x1 y1 to x2 y2 Assume that unknown routes are open make_virtual_goal_map x1 y1 dir Create an imaginary route from point x1 y1 to the closest goal Assume that unknown routes are open make_all_virtual_map x1 y1 dir Create an imaginary route from point x1 y1 to all the blocks in the maze Assume that unknown routes are open trace_virtual_path x y Fill up to 0 from point x1 y1 to the current mouse position If there are routes that it hasn t explored it saves those positions on vrstack Accordingly the upper most position on the stack is the closest two way path from where the mouse is currently positioned trace_virtual_path2 x y This is the same as trace_virtual_path function but the graphic route is excluded trace_virtual_path3 x y This is the same as trace_virtual_path functions but the operations of saving stack is excluded trace_real
21. tside resources such as LCD ADC two external Timers Self FLASH Writing and more thus allowing the hardware to be easily and conveniently developed The AIRAT2 has 6 sensors enabling it to move diagonally A PC simulator is provided which enables the user to more easily understand the high level mouse search algorithm The C source code is provided so that the programmer can easily develop algorithms which can be tested on the simulator and then moved to the mouse In addition LCD serial communication mouse control and other functions are provided as library and source files Besides the basic utility program the programs generating accelerating decelerating table code and various turning table codes are provided with their sources For those who want to learn high level mouse skills AIRAT2 provides an excellent environment for development test environments algorithms and much more 3 Features e Uses the convenient 58051 2 development environment refer to JS8051 A2 manual Ability to constantly self adjust and move diagonally using 6 sensors Sleek design small size and easily assembled disassembled e PC simulators used to accelerate development and testing During development information encoded on the mouse can be viewed using a PC e Libraries source codes and utilities are provided e Convenient recharging port no need for the batteries to be taken out e Produces a variety of sounds through frequency contro
22. u start studying this program The main variables and functions are as follows left_trim_flag when the mouse is inclined towards the left it is set to 1 In this case run the left motor quickly to arrange right_trim_flag when the mouse is inclined towards the right it is on 1 In this case run the right motor quickly to arrange large_trim_flag when the mouse is inclined much to one side of the wall it is on 1 In this case arranging intensity gets bigger dist_bojeong_flag when the mouse is running if the wall next to it or the pole disappears it adjusts it s distances from where it is return_from_multi_go This shows whether in fastrun it returned after more than two actions turn forward when this value is 1 it is so that the mouse coordinates would not have to be modified If the left motor left_end_op and right motor right_end_op s operation is all completed the appropriate bit would each become 1 and their byte became 0000001 1b pre_sturn_flag If the action right before was a smooth turn it is on 1 This to take care of continuous smooth turns separately 1 index r_index The index for left right motor straight line acceleration table 51 sr_index The index for left right motor turn acceleration table 1 145 r45 rf The distance to the wall that the individual left side right side left side 45 right side 45 left side ahead right side ahead sensor sho
23. ws history r_history 145 r45_history If history rf history It has the history of the wall information it received from its six sensors The LSB shows current or the latest wall presence and the MSB shows the previous seventh wall _If the value is 11111110b it could be said that the wall was there in the past and started to disappear recently However you must take into consideration that the wall information could not be correct because of the noise gone It shows the distance in steps the mouse has gone However at every middle block it resets to 0 Therefore it does not have step values of more than one block wall r_wall 145 wall r45 wall f_wall It shows the information whether or not there is a wall currently in the direction it is going in pre wall wall It shows whether there has been a wall in the past the sampling immediately before If the operator is using the existence of the current wall together with the sampling taken immediately before it can predict at what point the walls will disappear or appear pulse_go WORD pulse_count Output pulse_count to the motor static_mm_go BYTE mm It goes at the distance of mm The distance variable unit is mm millimeter One must be cautious that the parameter mm is the byte variable static_degree_turn BYTE angle Turn as much as the angle change_run_table void Change the multiple one block forward movements into one long
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