I made this project a few years ago with some classmates in school.
The plastic parts and the pcbs (kit) where bought by the school. Our assignment was to solder the pcb’s and write the program.
Normally the hexavoider goes forward. This happens by lifting the left side, the right side is then put forward and left back to the rear. Then the other side is lifted and the left side goes to the front. This is how it steps forwards.
The hexavoider has 2 types of sensors: the whiskers and the IR sensors. If the whiskers feel something then it goes backwards, turns to the other side as from where it detected and walks on. If the IR sensors detect something it will reverse and then turn. This is in always in the same direction because there is only 1 IR sensor.
Video of the HexAvoider in action:
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Code (Bascom):
'************************************************* '* HexAvoider * '* Stijn Coenen, Rob Thomas, Stijn van Roy * '* 3ELO2 * '************************************************* $regfile = "89C51RC.dat" 'Kristal = 11Mhz $crystal = 11059200 '************************************************* 'In en uitgangen aanduiden Config Servos = 3 , Servo1 = P1.5 , Servo2 = P1.6 , Servo3 = P1.7 , Reload = 100 Led1 Alias P0.0 Led2 Alias P0.1 Led3 Alias P0.2 Led4 Alias P0.3 Buzzer Alias P0.5 Switch1 Alias P0.4 Switch2 Alias P0.5 Links_antenne Alias P3.2 Recht_antenne Alias P3.3 Led_antenne Alias T0 Irled_left Alias P1.0 Irled_right Alias P1.1 Irin Alias P1.2 Led_left Alias P1.3 Led_right Alias P1.4 Dim index As Byte '************************************************* 'Subroutines 'Subroutines skippen bij opstarten programma GoTo Oversub '************************************************* 'Ir leds laten knipperen Ir_led_sturen: For index = 0 To 100 Irled_left = 1 Irled_right = 1 delay Irled_left = 0 Irled_right = 0 Delay Next Return '************************************************* 'Als er links gedetecteerd is Links_detect: Led1 = 0 GoSub Servo_mid GoSub Achteruit GoSub Achteruit Waitms 2000 GoSub Servo_mid GoSub Rechts_draai GoSub Rechts_draai Led1 = 1 Return '************************************************* 'Als er rechts gedetecteerd is Rechts_detect: Led2 = 0 GoSub Servo_mid GoSub Achteruit GoSub Achteruit Waitms 2000 GoSub Servo_mid GoSub Links_draai GoSub Links_draai Led2 = 1 Return '************************************************* 'Alle servo's in de middenstand zetten Servo_mid: Servo1 = 12 Servo2 = 12 Servo3 = 12 Return '************************************************* 'Achteruit lopen Achteruit: 'links omhoog Servo2 = 16 Waitms 350 'links naar achter Servo3 = 8 Waitms 350 'links naar voor Servo1 = 8 Waitms 350 ' rechts omhoog Servo2 = 8 Waitms 350 'rechts naar achter Servo1 = 16 Waitms 350 'links naar voor Servo3 = 16 Waitms 350 Return '************************************************* 'Naar rechts draaien Rechts_draai: 'links omhoog Servo2 = 16 Waitms 350 'links naar voor Servo3 = 14 Waitms 350 'rechts naar voor Servo1 = 8 Waitms 350 'rechts omhoog Servo2 = 8 Waitms 350 'rechts naar achter Servo1 = 14 Waitms 350 'links naar achter Servo3 = 8 Waitms 350 Return '************************************************* 'Naar links draaien Links_draai: 'links omhoog Servo2 = 16 Waitms 350 'links naar achter Servo3 = 8 Waitms 350 'rechts naar voor Servo1 = 14 Waitms 350 'rechts omhoog Servo2 = 8 Waitms 350 'rechts naar voor Servo1 = 8 Waitms 350 'links naar voor Servo3 = 14 Waitms 350 Return '************************************************* 'Sensoren checken Sensor_check: 'Linkse antenne If Links_antenne = 0 Then GoSub Links_detect End If 'Rechtse antenne If Recht_antenne = 0 Then GoSub Rechts_detect End If 'IR-Leds GoSub Ir_led_sturen If Irin = 0 Then GoSub Rechts_detect End If Return Oversub: '************************************************* 'Servo's in de middenstand zetten GoSub Servo_mid Do 'rechts omhoog Servo2 = 8 Waitms 350 If Links_antenne = 0 Then GoSub Links_detect End If If Recht_antenne = 0 Then GoSub Rechts_detect End If GoSub Ir_led_sturen If Irin = 0 Then GoSub Rechts_detect End If 'Links naar achter Servo3 = 10 Waitms 350 If Links_antenne = 0 Then GoSub Links_detect End If If Recht_antenne = 0 Then GoSub Rechts_detect End If GoSub Ir_led_sturen If Irin = 0 Then GoSub Rechts_detect End If 'Rechts voor Servo1 = 8 Waitms 350 If Links_antenne = 0 Then GoSub Links_detect End If If Recht_antenne = 0 Then GoSub Rechts_detect End If GoSub Ir_led_sturen If Irin = 0 Then GoSub Rechts_detect End If 'links omhoog Servo2 = 16 Waitms 350 If Links_antenne = 0 Then GoSub Links_detect End If If Recht_antenne = 0 Then GoSub Rechts_detect End If GoSub Ir_led_sturen If Irin = 0 Then GoSub Rechts_detect End If 'rechts naar achter Servo1 = 15 Waitms 350 If Links_antenne = 0 Then GoSub Links_detect End If If Recht_antenne = 0 Then GoSub Rechts_detect End If GoSub Ir_led_sturen If Irin = 0 Then GoSub Rechts_detect End If 'Links Naar Voor Servo3 = 14 Waitms 350 If Links_antenne = 0 Then GoSub Links_detect End If If Recht_antenne = 0 Then GoSub Rechts_detect End If GoSub Ir_led_sturen If Irin = 0 Then GoSub Rechts_detect End If Loop '************************************************* End
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