Elektronica Stynus
 

Cruiser Micromouse

I made this project a few years ago with some classmates in school.

 

The school bought the chassis and the pcbs of the cruiser micromouse. Our assignment was to write the code ourselves. The function of this robot is to run through a maze.

 

 

To test the cars we made a circuit. This is made so 1 side is a maze and the other side is a line for a line following robot.

 

Video of the cruiser in action:

 

Code (Bascom):

'*************************************************
'* Cruiser micromouse *
'* Stijn Coenen, Rob Thomas, Stijn van Roy *
'* 3ELO2 *
'*************************************************
$regfile = "m8def.dat"
'Aangeven dat het intern kristal
'op 8MHz is ingesteld
$crystal = 8000000
'**********************************
'In en uitgangen instellen
Config Portd.0 = Output
Config Portd.1 = Output
Config Portd.2 = Output
Config Portd.3 = Input
Config Portd.4 = Input
Config Portd.5 = Output
Config Portd.6 = Output
Config Portd.7 = Output
Config Portc.6 = Input
Config PORTB = Output
'**********************************
'In en uitgangen declareren
Led0 Alias Portd.0
Led1 Alias Portd.1
Led2 Alias Portd.2
Selectt Alias Portd.3
Modee Alias Portd.4
Sensor0 Alias Portd.5
Sensor1 Alias Portd.6
Sensor2 Alias Portd.7
Resett Alias Portc.6
Motor_en Alias PORTB.0
L_motor Alias PORTB.1
R_motor Alias PORTB.2
Led3 Alias PORTB.3
Led4 Alias PORTB.4
Led5 Alias PORTB.5
Buzzer Alias PORTB.6
'**********************************
'Byte's declareren
Dim Temp_register As Long
Dim Rechts_achter As Bit
Dim Rechts As Bit
Dim Rechts_voor As Bit
Dim Links_voor As Bit
Dim Links As Bit
Dim Links_achter As Bit
Dim I As Byte
Dim Led_bit As Bit
Dim Vanvoor As Bit
Dim Motorwaarde As Byte
Dim Muurbit As Bit
Dim Teller As Byte
'***********************************
'Analoge ingang instellen
Config Adc = Single , Prescaler = Auto
Start Adc
'***********************************
'Timer0 instellen (Voor de IR leds aan te sturen)
Config Timer0 = Timer , Prescale = 64 , Reference = External
'Prescaled kloksnelheid: 8000000 / 64 = 125 Khz
'Waarde die in timer0 wordt gezet bij een
overflow
Const Preload = 248
'************************************
'Interrupt's aanzetten
Enable Interrupts
Enable Timer0
On Timer0 Interupt_label
'************************************
'Subroutines
'Subroutines skippen bij opstarten programma
GoTo Overint
Interupt_label:
'IR leds van de sensoren aansturen
If Led_bit = 0 Then
Sensor0 = 1
Sensor1 = 1
Sensor2 = 1
Led_bit = 1
Else
Sensor0 = 0
Sensor1 = 0
Sensor2 = 0
Led_bit = 0
End If
'De preload waarde terug in Timer0 zetten
Timer0 = Preload
'Motor PWM
Incr Motorwaarde
If Motorwaarde < 32 Then
Motor_en = 1
Else
Motor_en = 0
If Motorwaarde = 64 Then
Motorwaarde = 0
End If
End If
Return
'*******************************************
Buzzer_aanst:
For I = 0 To 100
Buzzer = 1
Waitus 100
Buzzer = 0
Waitms 1
Next
Return
'**********************************************
'Analoge ingangen inlezen en omzetten naar bits
Analoog_in:
Start Adc
Temp_register = Getadc(5)
If Temp_register > 40 Then
Rechts_achter = 1
Led5 = 0
Else
Rechts_achter = 0
Led5 = 1
End If
Temp_register = Getadc(4)
If Temp_register > 60 Then
Rechts = 1
Led4 =
Else
Rechts = 0
Led4 = 1
End If
Temp_register = Getadc(3)
If Temp_register > 60 Then
Rechts_voor = 1
Led3 = 0
Else
Rechts_voor = 0
Led3 = 1
End If
Temp_register = Getadc(2)
If Temp_register > 60 Then
Links_voor = 1
Led2 = 0
Else
Links_voor = 0
Led2 = 1
End If
Temp_register = Getadc(1)
If Temp_register > 40 Then
Links = 1
Led1 = 0
Else
Links = 0
Led1 = 1
End If
Temp_register = Getadc(0)
If Temp_register > 40 Then
Links_achter = 1
Led0 = 0
Else
Links_achter = 0
Led0 = 1
End If
Return
'**************************************
Overint:
'Motors opzetten
L_motor = 1
R_motor = 1
Do
GoSub Analoog_in
If Links = 1 Then
R_motor = 0
L_motor = 1
'Rechts draaien tot dat links niks
'meer gedetecteerd wordt
Do
GoSub Analoog_in
Loop Until Links = 0
L_motor = 1
R_motor = 1
Teller = 0
ElseIf Rechts = 1 Then
R_motor = 1
L_motor = 0
'Links draaien tot dat rechts niks
'meer gedetecteerd wordt
Do
GoSub Analoog_in
Loop Until Rechts = 0
L_motor = 1
R_motor = 1
Teller = 0
ElseIf Links_voor = 1 Then
R_motor = 0
L_motor = 1
Waitms 260
'Links draaien tot dat vanvoor niks
'meer gedetecteerd wordt
Do
GoSub Analoog_in
Loop Until Links_voor = 0
L_motor = 1
R_motor = 1
Teller = 0
End If
'Als het programma 30 keer doorlopen is
'zonder dat er iets gedetecteerd is
'dan kort naar links draaien
Incr Teller
If Teller = 30 Then
Waitms 20
R_motor = 1
L_motor = 0
Waitms 30
L_motor = 1
R_motor = 1
Waitms 10
Teller = 0
End If
Loop
'******************************************
End


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