Robotics with the Boe-Bot text v2.2

Chapter 4: Boe-Bot Navigation · Page 151
' -----[ Subroutine – Right_Turn ]--------------------------------------------
Right_Turn: ' right turn subroutine.
FOR pulseCount = 1 TO 24 ' Send 24 right rotate pulses.
PULSOUT 13, 850 ' 1.7 ms pulse to left servo.
PULSOUT 12, 850 ' 1.7 ms pulse to right servo.
PAUSE 20 ' Pause for 20 ms.
NEXT
RETURN ' Return to Main Routine section.
Did your Boe-Bot drive in a rectangle, going forward on the first two sides and
backwards on the second two? If it looked more like a trapezoid, you may want to adjust
the FOR...NEXT loop's
EndValue arguments in the turning subroutines to make precise 90-
degree turns.
Your Turn
√ With EepromNavigation.bs2 active in the BASIC Stamp Editor, click Run and
select Memory Map.
Your stored instructions will appear highlighted in blue at the beginning of the Detailed
EEPROM Map as shown in Figure 4-7. The numbers shown are the hexadecimal ASCII
(American Standard Code for Information Interchange) codes that correspond to the
characters you entered in your
DATA statement.
Figure 4-7
Memory Map
with Stored
Instructions
Visible in
EEPROM Map
√ Click the Display ASCII checkbox near the lower left corner of the Memory Map
window.