Chapter 10 – Triggers and sensors

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SIDEBAR 1

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#Picaxe 08M2

symbol PIR_IN=pinC.1

symbol PIR_COUNT=b5

 

Init:                                                         'Just a starting point label                                                                                                   

Pause 6000                                           'Wait 60 secs for PIR to 'settle down                                                

Testit:                                                     'PIR motion test

               

Do : Loop Until PIR_IN=1

                 Do

                PIR_COUNT = PIR_COUNT + 1 * PIR_IN

                Loop Until PIR_COUNT = 10

                PIR_COUNT = 0   

goto Routine

 

 

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SIDEBAR 2

 

' {$STAMP BS2}

' {$PBASIC 2.5}

' {$PORT COM6}

 

'---------variables------------------------------------------

lid_servo       VAR Word

repeat          VAR Byte

rawDist         VAR Word

inches          VAR Word

 

'---------pins------------------------------------------

Ping          PIN 2

servo1        PIN 0

 

'---------constants------------------------------------------

 

Sonar         CON 5                       ' trigger pulse = 10 uS

Scale         CON $200    ' raw x 2.00 = uS

Baud          CON $8000 | 6

 

RawToIn       CON 889                     ' 1 / 73.746 (with **)

RawToFt       CON 889 / 12

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'---setup--screen-----

 

'---------program-----------------------------------------------

main:

 

    GOSUB Get_Sonar                             ' get sensor value

    inches = rawDist ** RawToIn                 ' convert to inches

    DEBUG CRSRXY, 20,3,  DEC inches, CR

 

    IF inches < 40 AND inches > 10 THEN GOSUB move_servo

 

    IF inches < 8 THEN GOSUB close_lid

 

GOTO main

 

move_servo:

 

lid_servo = inches *30 MAX 1050 MIN 300

 

 FOR repeat = 0 TO 4

    PULSOUT 0, lid_servo

    PAUSE 12

 NEXT

 

 DEBUG DEC lid_servo

 PAUSE 20

 DEBUG CLS

 

RETURN

 

close_lid:

 

 FOR repeat = 0 TO 5

    PULSOUT 0, 240

    PAUSE 15

 NEXT

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RETURN

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Get_Sonar:

 Ping = 0                                      ' make trigger 0-1-0

 PULSOUT Ping, Sonar                           ' activate sensor

 PULSIN  Ping, 1, rawDist                 ' measure echo pulse

 rawDist = rawDist */ Scale                    ' convert to uS

 rawDist = rawDist / 2                         ' remove return trip

 RETURN

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Chapter 14 – Puppeteering

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Picaxe Code for Switch

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01 ' Program: PWM to On-Off1.bas

02

03 ' Status: Good

04 '

05 ' Description: Program to convert an standard servo PWM command to an on/off state. It is to be used when

06 ' servo commands are the only available output and need to be converted to a simple

07 ' on or off state (e.g.,relay control). Standard PWM range is 500ms to 2500ms with an update

08 ' period of ~20ms to 40ms (50Hz to 25Hz).

09 '

10 ' Ouput PICAXE port will be as follows based on PWM input:

11 ' 500 ms to 1500ms input pulse = OFF (logical 0 0r 0VDC)

12 ' 1501ms to 2500ms input pulse = ON (Logical 1 or 5VDC)

13 '

14 ' Employs the Pulsin command that measures pulse widths in 10 us increments.

15 ' If no pulse is detected within a 0.635 seconds period, it will output a "0".

16 ' This would imply the code logic would set the ouput port to OFF (logical 0 or 0VDC).

17 '

18 ' Runs on 08M2 project board using 3 AA batteries; Default 4 MHz clock

19 ' Servopos (75 to 225)is the expanded range of typical servo motor

20 '

21 '

22 ' Author: Brian Lincoln

23 ' Date: 6/6/16 Original

24

25 ' Updates:

26 ' 6/6/16 BTL Original Code

27

28 '

29

30 '

31

32 '---------- Declarations ------------------------------------------------

33 #Picaxe 08M2 ' Default PICAXE 08m2+ running at 4 MHz

34

35 'symbol xxx = C.0 ' Serial Out - Do not use

36 symbol new_out = C.1 ' Converted Output On or Off

37 'symbol xxx = C.2 ' Spare

38 symbol PWM_Input = C.3 ' PWM signal to be converted INPUT ONLY

39 'symbol xxx = C.4 ' Spare INPUT or OUTPUT

40 'symbol xxx - C.5 ' Serial In - Do not use

41

42

43 symbol pulse_read = w2 ' Variable to read pulse counts in 10us increments

44

45

46

47 '---------- Initialize --------------------------------------------------

48 init:

49 low new_out 'Initialize output pin to low (or OFF)

50

51 '---------- Main Code ----------------------------------------------------

52

53 main:

54

55 pulsin PWM_Input,1,pulse_read ' record the length of a pulse on C.3 into w2 in 10us increments (or counts)

56 ' for example 500us = 50 counts, 1500us = 150 counts, 2500us - 250 counts

57

58 if pulse_read > 150 then 'If pulse that was read is bigger than 150 counts (or 1500us) then set output pin high

59 high new_out

60 else

61 low new_out 'If pulse that was read is smaller than 150 counts (or 1500us) then set output pin low

62 endif 'Note: If pulse is not detected at all, it will record a "0" which defaults to this "OFF" state.

63

64

65 goto main ' loop back to start

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Chapter 16 -  Eyes

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SIDEBAR 1

#Picaxe 08M2

'C.1 is Eyes Left/Right servo

'C.2 is Eye Up/down servo

'C.4 is is Eye Lid servo

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symbol Eyelr = C.1

symbol Eyeud = C.2

symbol Eyelid = C.4

symbol counter = b9

symbol pointer = b8

symbol delay = 10

symbol counter1 = b19

symbol pointer1 = b18

symbol delay1 = 39

symbol counter2 = b25

symbol pointer2 = b24

symbol delay2 = 45

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start0:

pause 500

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start1:'Eye Lids

let b8=133 'set pointer offset so that Eye Lid loop does not get stuck

let b6=130

let b7=130 'set default center values

servo Eyelid,pointer 'center servo

pause 7500

for counter = 130 to 83 step -1

servopos Eyelid,counter

pause delay

next counter

pause 3000

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for counter = 83 to 180 step 1

servopos Eyelid,counter

pause delay

next counter

pause 3000

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for counter = 180 to 130 step -1

servopos Eyelid,counter

pause delay

next counter

pause 4000

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move: random w3 'place a random number in wo (also B0 & B1)

 

if b7<83 then left 'check for random down

if b7>=83 and b7<=130 then middle 'check for random middle

if b7>=130 then right

goto move 'keep moving the Eye Lid back to move loop

 

right: if pointer = 83 then move

if pointer = 130 then mr

for counter = 180 to 83 step -1

servopos Eyelid,counter

pause delay

next counter

pointer = 83

goto skipmr

 

mr: for counter = 130 to 83 step -1

servopos Eyelid,counter

pause delay

next counter

pointer = 83

 

skipmr: pause 7000 'delay to look natural

goto move 'return to move loop

 

middle: if pointer = 130 then move 'if Eye Lid is already in the middle then go back to move

if pointer = 83 then ml

for counter = 180 to 130 step -1

servopos Eyelid,counter

pause delay

next counter

pointer = 130

goto skipml

 

ml: for counter = 83 to 130 step 1

servopos Eyelid,counter

pause delay

next counter

pointer = 130

 

skipml: pause 9000 'delay to look natural

goto move 'return to move loop

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left: if pointer = 180 then move

if pointer = 83 then lmr

for counter = 130 to 180 step 1

servopos Eyelid,counter

pause delay

next counter

pointer = 180

goto skiplmr

 

lmr: for counter = 83 to 180 step 1

servopos Eyelid,counter

pause delay

next counter

pointer = 180

 

skiplmr: pause 7000 'delay to look natural

goto move 'return to move loop

 

start2:'Eye Left/Right

let b18=153 'set pointer offset so that Eye Left/Right loop does not get stuck

let b16=150

let b17=150 'set default center values

servo Eyelr,pointer1 'center servo

pause 8000

for counter1 = 150 to 125 step -1

servopos Eyelr,counter1

pause delay1

next counter1

pause 3000

 

for counter1 = 125 to 175 step 1

servopos Eyelr,counter1

pause delay1

next counter1

pause 3000

 

for counter1 = 175 to 150 step -1

servopos Eyelr,counter1

pause delay1

next counter1

pause 2000

 

move1: random w8 'place a random number in wo (also B0 & B1)

 

if b17<125 then left1 'check for random left

if b17>=125 and b17<=150 then middle1 'check for random middle

if b17>=150 then right1

goto move1 'keep moving the Eye Left/Right back to move loop

 

right1: if pointer1 = 125 then move1

if pointer1 = 150 then mr1

for counter1 = 175 to 125 step -1

servopos Eyelr,counter1

pause delay1

next counter1

pointer1 = 125

goto skipmr1

 

mr1: for counter1 = 150 to 125 step -1

servopos Eyelr,counter1

pause delay1

next counter1

pointer1 = 125

 

skipmr1: pause 7000 'delay to look natural

goto move1 'return to move loop

 

middle1: if pointer1 = 150 then move1 'if Eye left/Right is already in the middle then go back to move

if pointer1 = 115 then ml1 'check to see if Eye is pointed left or right

for counter1 = 175 to 150 step -1

servopos Eyelr,counter1

pause delay1

next counter1

pointer1 = 150

goto skipml1

 

ml1: for counter1 = 125 to 150 step 1

servopos Eyelr,counter1

pause delay1

next counter1

pointer1 = 150

 

skipml1: pause 9000 'delay to look natural

goto move1 'return to move loop

 

left1: if pointer1 = 175 then move1

if pointer1 = 125 then lmr1

for counter1 = 150 to 175 step 1

servopos Eyelr,counter1

pause delay1

next counter1

pointer1 = 175

goto skiplmr1

 

lmr1: for counter1 = 125 to 175 step 1

servopos Eyelr,counter1

pause delay1

next counter1

pointer1 = 175

 

skiplmr1: pause 7000 'delay to look natural

goto move1 'return to move loop

 

start3: 'Eye Up/Down

let b24=153 'set pointer offset so that Eye Up/Down loop does not get stuck

let b22=150

let b23=150 'set default center values

servo Eyeud,pointer2 'center servo

pause 9500

for counter2 = 150 to 120 step -1 'move Eye from middle to up

servopos Eyeud,counter2

pause delay2

next counter2

pause 3000

 

for counter2 = 120 to 200 step 1

servopos Eyeud,counter2 'move Eye from up to down

pause delay2

next counter2

pause 3000

 

for counter2 = 200 to 150 step -1

servopos Eyeud,counter2 'move Eye from down to middle

pause delay2

next counter2

pause 4000

 

move2: random w11 'place a random number in wo (also B0 & B1)

 

if b23<120 then left2 'check for random up

if b23>=120 and b23<=150 then middle2 'check for random middle

if b23>=150 then right2 'check for random down

goto move2 'keep moving the Eye back to move loop

 

 

right2: if pointer2 = 120 then move2 'if Eye is already down goto back to move

if pointer2 = 150 then mr2 'check to see if Eye in pointed middle or up

for counter2 = 200 to 120 step -1 'move Eye from up to down

servopos Eyeud,counter2

pause delay2

next counter2

pointer2 = 120 'set Eye pointer direction to down

goto skipmr2

 

mr2: for counter2 = 150 to 120 step -1 'move Eye from middle to down

servopos Eyeud,counter2

pause delay2

next counter2

pointer2 = 120 'set Eye pointer direction to down

 

skipmr2: pause 7000 'delay to look natural

goto move2 'return to move loop

 

middle2: if pointer2 = 150 then move2 'if Eye is already in the middle then go back to move

if pointer2 = 120 then ml2 'check to see if head is pointed up or down

for counter2 = 200 to 150 step -1

servopos Eyeud,counter2 'move Eye from down to middle

pause delay2

next counter2

pointer2 = 150

goto skipml2

 

ml2: for counter2 = 120 to 150 step 1

servopos Eyeud,counter2 'move servo from left to middle

pause delay2

next counter2

pointer2 = 150

 

skipml2: pause 9000 'delay to look natural

goto move2 'return to move loop

 

left2: if pointer2 = 200 then move2 'if head is already left then return to move

if pointer2 = 120 then lmr2 'check if the head is in the middle or the right

for counter2 = 150 to 200 step 1

servopos Eyeud,counter2 'move head from middle to left

pause delay2

next counter2

pointer2 = 200

goto skiplmr2

 

lmr2: for counter2 = 120 to 200 step 1

servopos Eyeud,counter2 'move head from right to left

pause delay2

next counter2

pointer2 = 200

 

skiplmr2: pause 7000 'delay to look natural

goto move2 'return to move loop

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Chapter 21 - Bandit

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#Picaxe 18M2 

 

 

'C.1 is to Tenda  

'B.1 is Waist Bend 

'B.2 is Spread Wings 

'B.3 is Head Nod 

 

Symbol Waist = B.1 

Symbol Wings = B.2 

Symbol Head = B.3 

Symbol Tenda = C.1 

 

Init:    

   

   serout Tenda,4800, ($EF); 'STOP MP3 module  

pause 1000 

serout Tenda,4800, ($E1); 'Set MP3 volume 

pause 1000 

 

Servo Waist, 50 

Servo Head, 210 

Servo Wings, 170 

 

Routine: 

 

servopos Head, 130 

pause 1000 

servopos head, 210 

pause 1000 

 

servopos Wings, 90 

pause 250 

servopos Wings, 170  

pause 1500 

 

servopos Waist, 150 

pause 1000 

servopos Waist, 100 

pause 3000 

 

serout Tenda,4800,($01)           'Start playing first mp3 

pause 500 

 

servopos Waist, 50 

pause 1000 

servopos Waist, 100 

pause 3000 

 

servopos Wings, 90 

pause 250 

servopos Wings, 170  

pause 1500 

 

servopos Waist, 150 

pause 1000 

servopos Waist, 75 

pause 1500 

 

servopos Head, 100 

pause 1000 

servopos head, 160 

pause 1000 

 

servopos wings, 90 

pause 500 

servopos wings, 170  

pause 1500 

 

servopos Waist, 120 

pause 1000 

servopos Waist, 90 

pause 2750 

 

servopos Head, 210 

pause 1000 

servopos head, 140 

pause 1000 

 

servopos wings, 90 

pause 250 

servopos wings, 170  

pause 5000 

 

servopos Waist, 150 

pause 1000 

servopos Waist, 90 

pause 2000 

 

servopos Head, 210 

pause 1000 

servopos head, 140 

pause 1000 

 

servopos wings, 100 

pause 500 

servopos wings, 170  

pause 2500 

 

servopos Head, 130 

pause 1000 

servopos head, 180 

pause 1000 

 

servopos Wings, 90 

pause 250 

servopos Wings, 170  

pause 1500 

 

servopos Waist, 150 

pause 1000 

servopos Waist, 100 

pause 3000 

 

for time = 1 to 60'60 is the number of seconds of retrigger delay 

pause 1000  'Pause for 1 sec  

next time  

 

goto Routine