Servo Positioning Pulse Width Direction of Rotation PULSOUT Period Determined by the width of the pulse Distance Each pulse causes the servo to rotate a small amount Speed Maximum at 1.3 and 1.7 ms. Decreases as approaches 1.5 ms Pulse Width Direction of Rotation PULSOUT Period 1.3 ms Clockwise 650 1.5 ms Stopped 750 1.7 ms Counter-clockwise 850 km – p. 73 new text

Basic Boe-Bot Maneuvers Page 111

Controlling Distance Run "BoeBotForwardThreeSeconds.bs2" Follow the instructions on p. 118 to make the Boe-Bot go half as far forward Add code to make the Boe-Bot go backward, left, and right, as shown on pages 119-120 FOR counter = 1 TO 122 PULSOUT 13, 850 PULSOUT 12, 650 PAUSE 20 NEXT put new code here

Example Program: ForwardLeftRightBackward.bs2 Page 127 – 128 Forward Rotate Right Rotate Left Backward

Example Program: Movement with Subroutines Page 143

Building Complex Maneuvers in EEPROM Page 147

EEPROM Navigation Page 149 Page 152 Page 150

Projects 1 m 1 m 1 m 1 m Page 159

Tactile Navigation with Whiskers Page 166 Page 167 Page 167

Building the Whiskers Page 168 Page 169 Page 172

Testing the Whiskers Run "TestWhiskers.bs2" p.173 Press on each whisker and examine the Debug Terminal output. Each whisker should display 1 when not pressed, 0 when pressed. Position the whisker wires to make good contact with the headers DEBUG "WHISKER STATES", CR, "Left Right", CR, "------ ------" DO DEBUG CRSRXY, 0, 3, "P5 = ", BIN1 IN5, " P7 = ", BIN1 IN7 PAUSE 50 LOOP p. 159 replace code listing

Field Testing the Whiskers – Add LEDs Page 174 Page 175 Page 177

Navigation With Whiskers Run "Roaming with Whiskers.bs2" Compare with pushbuttons exercise from the previous day DO IF (IN5 = 0) AND (IN7 = 0) THEN ' Both whiskers detect obstacle GOSUB Back_Up ' Back up & U-turn (left twice) GOSUB Turn_Left ELSEIF (IN5 = 0) THEN ' Left whisker contacts GOSUB Back_Up ' Back up & turn right GOSUB Turn_Right ELSEIF (IN7 = 0) THEN ' Right whisker contacts GOSUB Back_Up ' Back up & turn left ELSE ' Both whiskers 1, no contacts GOSUB Forward_Pulse ' Apply a forward pulse ENDIF ' and check again LOOP

Light Sensitive Navigation with Photoresistors Page 193 Page 195

Navigating with Infrared Headlights Page 236 236, 237, 237, Page 237 Page 237