Radio Shack Mobile Robot - Manual (Page 30)

Programs
27
The ARobot package includes programs to:
Test Program to test motors, buttons, whiskers, speaker, LEDs, etc.
Steering adjustment program to set the straight position of the steering motor.
Wander program will move around avoiding obstacles.
Other programs and projects for ARobot are available at our website:
www.robotics.com/arobot
Test Program: TEST.BS2
The test program tests all functions on ARobot. When it powers up, it beeps several times to test the
speaker. The program then responds to the following inputs:
Whiskers: One whisker makes it beep once and turns on the green LED.
The other whisker beeps twice and turns on the red LED.
Buttons: One button toggles the LEDs on and off and sends data out the
serial port (counts from 1 to 25). The other button
moves all RC servo motors from left to right and back again.
Jumpers: One jumper causes the drive motor to move forward.
The red LED will go on and off as the motor turns indicating an operating encoder.
The other jumper turns on the powerful output.
If one button is pressed, the powerful output will reverse polarity.
Steering Adjustment Program: STRAIGHT.BS2
This program helps the robot builder adjust the steering system for straightness. The program will wait
for the user to push one of the buttons. Once the button is pushed, the robot straightens the steering
wheels, beeps once, moves forward 10 feet, then reverse 10 feet. Adjust the steering arms and check the
robot’s travel until straight.
Wander Program: WANDER.BS2
This program is a simple object detection/avoidance routine. It drives forward until a whisker comes in
contact with an object. It then reverses direction and steers away from the object. After a short period,
it returns to straight forward movement. The Wander program is an excellent starting point for the crea-
tion of new programs.