Datasheet
Table Of Contents
- Contents
- Microbot Overview
- PICAXE Programming System
- Microbot Power Supply
- BOT120 Microbot Contents List
- The Microbric Connector
- Assembly 1 - Motherboard Panel
- Assembly 2 - Battery Box
- Assembly 3 - Motor Housing
- Assembly 4 - Motors
- Assembly 5 - Wheels, Tyres and Rear Skid
- Assembly 6 - Line Tracker
- Assembly 7 - Bumper Switches
- Assembly 8 - Pen Holder, Servo and SRF005 Modules
- Fully Assembled Microbot
- Motor Trouble Shooting
- Programming Software
- Programming Cable
- Download Hard Reset
- PICAXE-20X2 Pin Connections
- PICAXE-20X2 Microbot Pinout Table (Logicator)
- PICAXE-20X2 Microbot Pinout Table (Programming Editor / AXEpad)
- Programming Example 1 - LED Eyes
- Programming Example 2 - Push Button Switch
- Programming Example 3 - Bumper
- Programming Example 4 - Piezo Sounder
- Programming Example 5 - Motors
- Programming Example 6 - Line Tracker Testing
- Programming Example 7 - Line Tracker Program
- BOT121 Microbot Sensors Pack
- Assembly 9 - Infra-red Receiver (IR RX) Module
- Assembly 10 - Infra-red Transmitter (IR TX) Module
- Using the TVR010A Infra-red TV Style Remote
- Programming Example 8 - Infra-red Receiver
- Programming Example 9 - Infra-red Transmitter
- Assembly 11 - LDR Light Sensor Modules
- Programming Example 10 - Testing LDR Light Sensors
- Programming Example 11 - Light Follower
- SRF005 Ultrasonic Range Finder
- Assembly 12 - SRF005 Ultrasonic Range Finder
- Programming Example 12 - Testing SRF005
- Programming Example 13 - Using the SRF005
- BOT123 Servo Upgrade Pack
- Assembly 13 - BOT123 Servo / SRF005 Servo Adapter
- Programming Example 14 - Using Servos
- BOT127 Line Tracker / LED Upgrade Pack
- Appendix 1 - Home Made Sensors
- Appendix 2 - BOT120 Microbot Motherboard Schematic
- Appendix 3 - BOT120 Sensors Schematic
- Appendix 4 - BOT121 Sensors Pack Schematic
- Appendix 5 - BOT123 Servo Pack Schematic
- Appendix 6 - Advanced PIC (Non-PICAXE) Programming
- Appendix 7 - Copyright and Trademarks
- BOT110 Versabot - Microbot's 'big brother!'
28
revolution
(c) Copyright Revolution Education Ltd. Web: www.picaxe.co.uk Version 1.1 04/10
BOT120.PMD
BOT120 PICAXE-20X2 MICROBOT
Programming Example 7 – Line Tracker Program
The following program demonstrates using your Microbot as a black line
follower. A suitable line can be created by sticking black insulation tape
onto a pale colour background (e.g. a piece of MDF wood).
Your Microbot should have the line tracker sensor fitted to the centre
front connection of the motherboard ( pin C.2 / ADC 8 ) and the
bumper and its two bump sensors should be fitted to the left and right
front connections ( pin C.1 and pin C.3 ).
When placed on a black line your Microbot will move forward diagonally
until it leaves the black line, then it will move itself forward in the
opposite diagonal direction until it is back on the line. This process will
repeat so your Microbot tracks the edge of the black line.
If your Microbot collides with anything one of the two bumper switches
will be activated. When the bumper switches are activated your Microbot
will stop until the obstacle is removed. When the bumper is free it will
then begin its line following again.
Sample Logicator Flowchart File:
BOT120 LINE FOLLOWER.PLF
Sample BASIC File:
BOT120 LINE FOLLOWER.BAS
symbol MID_LEVEL = 180
main:
if pinC.1 = 1 or pinC.3 = 1 then
halt A
halt B
else
readadc 8, b1
if b1 < MID_LEVEL Then
forward A
halt B
else
halt A
forward B
end if
end if
goto main