This next one is to move the eyes right and left, Make sure the vr signal center wire is at pin 7 for this and use your data for the eye left and right movement to make changes to match your data. Look at the notes in the program to determine where you need to change the data. here is the program and the video will follow:

' {$STAMP BS2}
' {$PBASIC 2.5}
' test motor movement and check vr's for proper poition and move eyes rt and lt
Result VAR Word 'Word variable to hold result.
LOW 10 ' set pin 10 low eye right
HIGH 8 ' set pin 8 high  eye left to move motor eye left
LOW 8  ' ser pin 8 low eye left to stop motor eye left

Main:
GOSUB checkeyes
  IF RESULT =1 OR RESULT =0 THEN GOTO BUG ' if vr has no signal stop program
  IF result <= 1100 THEN GOTO EYELEFT ' change left eye min
  IF result >= 2300 THEN GOTO eyeright ' change right eye max
    GOTO eyeright
GOTO MAIN

BUG:
DEBUG "bug found in VR READINGS = ", DEC RESULT,CR ' if signal loss stop routine
STOP

checkeyes:  ' checking the VR location

HIGH 7 'use pin 7 to Discharge the cap circuit
PAUSE 1 'for 1 ms.
RCTIME 7, 1, Result 'Measure RC charge time. convert analog to digital

RETURN

eyeright: ' move right eye to the right
HIGH 10   ' turn motor on

CHECKRT:
DEBUG "eye right mode", DEC result, CR
GOSUB checkeyes
  IF Result < 1100  THEN GOTO LINESLOW 'check to see if it at the lower limits change to min

GOTO CHECKRT

eyeleft: 'move eye to the left

HIGH 8 'turn on motor

CHECKLT:
DEBUG "eyeleft mode", DEC result

GOSUB checkeyes
  IF Result > 2300 THEN GOTO LinesLow ' if over limit turn off motor change to max

GOTO CHECKLT

LinesLow: ' turn off motor
  LOW 8
  LOW 10
  DEBUG "droped lines low" , CR
GOTO main

here is the video:

Enjoy! GWJax

GWJax, To Hack and make mods on robots is a life style and comes natural and not by choice. If a robot has a screw to open it then it must be opened!

Great I'm glad you think so. I will have all programs in this thread for the Elvinator and some others that arn't related to the Elvinator also. GWJax

GWJax, To Hack and make mods on robots is a life style and comes natural and not by choice. If a robot has a screw to open it then it must be opened!

More code and video on the Fadding of the Elvinator eye. The program sets the LED in the eye at a low voltage using the PWM command and will increase the voltage to the max at 5V and then dim out. There are 3 components to this circuit a 4.7uF cap and a 1K resistor and a LED connected to P6 of the basic stamp: the code is as follows:

' {$STAMP BS2}
' {$PBASIC 2.5}
' This program sets the brightness of the eye and fades in and the out
pwmduty VAR Byte
pwmout PIN 6 'LED connected to P6

'init
pwmduty=0 'set duty cycle to 0

runhigh:
DO WHILE pwmduty<255 'keep increasing dutycycle till 255 is reached
  PWM PWMout, pwmduty,19 ' run to increase voltage to LED
    pwmduty=pwmduty+1 'Increase duty cycle by 1
LOOP

runlow:
IF pwmduty>=255 THEN pwmduty=254 'set duty cycle to 254
  DO WHILE pwmduty >=1 'continue to decrease voltage to LED
    PWM pwmout,pwmduty,19 ' run to decrease voltage to LED
      pwmduty=pwmduty-1  'Decrease cycle by 1
  LOOP

GOTO runhigh 'start over

and here is the video:

Enjoy, GWJax 

GWJax, To Hack and make mods on robots is a life style and comes natural and not by choice. If a robot has a screw to open it then it must be opened!

The code that I have posted is just for demo purposes, the real code for the Elvinator is still in the works. This demo code gives you a good idea about what is happing behind the seens. When the Elvinator code is posted, I most likely will post it in sections. As of helping you with Wall-E I'll need to get with you soon so you can test your creation before your done with it to at least get the feel of what you want and this will help you out before you make the fibreglass mold for the cover just incase you made a design error and you can fix it first. I't looks like that you have the tracks on and ready for some movements if you have not done this yet. Just let me know in a PM and we'll keep it closed before the big review! Some test code will be posted here so the people will learn how to test diffrent parts of their robot before writing a complete set of codes and finding out that the wheels or sensors need to be modified to work. This is the most important part of programming for robots because taking software to control a mechanical part can be time consumming and if you get the code wrong it may damage the bot or give you undisired results. So document everything you do folks so you can backtrack if need be. Like I said in the promo post thread if ANYONE has code that they would like to share PLEASE do so. This thread is not just about the Elvinator but about programming the Basic Stamp and PBasic Coding. I know some of you are out there has coding experience so come out of your shell and post. We all learn and feed of each other. Thanks for reading. GWJax

GWJax, To Hack and make mods on robots is a life style and comes natural and not by choice. If a robot has a screw to open it then it must be opened!

here is a simple Ping mesurment for distance in Inch and cm. Use this program to determaine what distance you would like for the bot to sence and wite down the code to input into your subroutine for checking objects:

' Measure distance with Ping))) sensor and display in both in & cm
' you'll find out that you should get 134 in max and 364 cm max
' use this program to get the maximum didtsnace required you need and write down the numbers
' {$STAMP BS2}
' {$PBASIC 2.5}
' Conversion constants for room temperature measurements.
CmConstant CON 2260
InConstant CON 890
cmDistance VAR Word
inDistance VAR Word
time VAR Word
DO
PULSOUT 15, 5
PULSIN 15, 1, time
cmDistance = cmConstant ** time
inDistance = inConstant ** time
DEBUG HOME, DEC3 cmDistance, " cm"
DEBUG CR, DEC3 inDistance, " in"
PAUSE 100
LOOP

GWJax, To Hack and make mods on robots is a life style and comes natural and not by choice. If a robot has a screw to open it then it must be opened!

4mem8 Here is the diagram for an H-Bridge controller for use in your Wall-E project. This diagram came fron Nuts-N-Volts this will help you in coding better than the HB25 units, You have a little bit more control of what your doing and you don't have to worry about the 2ms and 1.5 ms delay between signals as with the HB25. Make 2 of them for Wall-E on one board:

Stamp Applications no. 23 (January ’97):

GWJax, To Hack and make mods on robots is a life style and comes natural and not by choice. If a robot has a screw to open it then it must be opened!

Here is the next program for the random movements. Video first and then the code will follow:

her is the code. Remember the max and min movements are for my servos yours will be diffrent:

' {$STAMP BS2}
' {$PBASIC 2.5}
' random movements for tilt and pan movements

' variables
Tilt               PIN            14   ' set tilt to pin 14
Pan                PIN            13   ' set pan to pin 13
tiltseed           VAR           Word  ' set var seed for tilt
panseed            VAR           Word  ' set var seed for pan
TPseed             VAR           Word  ' set to check for tilt or pan
tpselect           VAR     tpseed.BIT0 ' Bit0 of the random number
tiltdelay          VAR           Word  'tiltdelay
pandelay           VAR           Word  'pandelay
i                  VAR           Byte  'counter
tilttime           VAR           Byte  'tilttime
pantime            VAR           Byte  'pantime

' initialization/maxline
  LOW tilt
  LOW pan
  tilttime = 10
  pantime = 30
  tiltdelay = 450
  pandelay = 700
  tiltseed=460
  panseed=1100
  TPseed=1
 main:
  RANDOM tpseed
  IF tpselect = 0 THEN GOSUB panit 'for tilt or pan direction

  RANDOM tiltseed ' give a random number
  tiltdelay=tiltseed
  DO WHILE (tiltdelay > 450 OR tiltdelay < 101 ) 'check to see if tilt is within specs
  RANDOM tiltseed  ' mixup numbers
  tiltdelay=tiltseed
  LOOP 'continue till values are right for movement
  GOSUB tiltit
  GOTO main ' start all over

tiltIt:

    FOR i = 0 TO tilttime
      PULSOUT tilt, tiltdelay 'send out pulse to servo
      PAUSE 18
    NEXT
    RETURN

PanIt:
RANDOM panseed ' mix random number with seed value
  pandelay=panseed
  DO WHILE (pandelay > 1100 OR pandelay < 101 ) ' wait till within movement specs
    RANDOM panseed ' mix numbers up again
    pandelay=panseed
  LOOP ' loop until numbers are within correct movement range

    FOR i = 0 TO pantime 'Start pan movements
      PULSOUT pan,pandelay
      PAUSE 18
    NEXT
    RETURN

GWJax, To Hack and make mods on robots is a life style and comes natural and not by choice. If a robot has a screw to open it then it must be opened!

No your ok with the parts listed as described but just incase I will test it out first and make changes if nessary and will post the results or maybe an easier way I'll plug it into the simulator.

GWJax, To Hack and make mods on robots is a life style and comes natural and not by choice. If a robot has a screw to open it then it must be opened!