1. 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

2. Basic Boe-Bot Maneuvers
Page 111

3. 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
FOR counter = 1 TO 122
PULSOUT 13, 850
PULSOUT 12, 650
PAUSE 20
NEXT
put new code here

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

5. Example Program: Movement with Subroutines
Page 143

6. Building Complex Maneuvers in EEPROM
Page 147

7. EEPROM Navigation
Page 149
Page 152
Page 150

8. Projects
1 m
1 m
1 m
1 m
Page 159

9. Tactile Navigation with Whiskers
Page 166
Page 167
Page 167

10. Building the Whiskers
Page 168
Page 169
Page 172

11. 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

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

13. 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

14. Light Sensitive Navigation with Photoresistors
Page 193
Page 195

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