C Control PRO-BOT128 + C-Control PRO 128 Unit + Voltcraft® USB programming cable Kit 190406 Benutzerhandbuch
Produktcode
190406
43
Line check:
Checks the line sensor. The red LED blinks and then stays lit. The output window shows the measuring values of the photo transistors. These
may deviate from each other depending on the light incidence. The parts tolerance also plays a role here. To do so, place the robot on a white
sheet of paper onto which you have drawn a line beforehand (approx. 1 cm thick, use a black felt-tip pen, for example, alternatively create this
via the PC and print it out). The line must run in the center of the photo transistors. Now the measuring values of the left and the right sensor
should be just about equal (+/-30). If you now move the line towards one of the photo transistors, this value must change considerably.
may deviate from each other depending on the light incidence. The parts tolerance also plays a role here. To do so, place the robot on a white
sheet of paper onto which you have drawn a line beforehand (approx. 1 cm thick, use a black felt-tip pen, for example, alternatively create this
via the PC and print it out). The line must run in the center of the photo transistors. Now the measuring values of the left and the right sensor
should be just about equal (+/-30). If you now move the line towards one of the photo transistors, this value must change considerably.
MIC check:
Checks the sound sensor. Clap your hands loudly; the output window shows "Ups…"
Motor check:
Checks the drive. To do so, jack up the robot slightly so that the wheels hang a bit in the air. Make sure that the PRO-BOT128 cannot topple off
the table. After the program start, both motors first accelerate in one direction and then in the other. Both wheels should always rotate in the same
direction. If this is not the case, you may have to change the connections on the motors.
the table. After the program start, both motors first accelerate in one direction and then in the other. Both wheels should always rotate in the same
direction. If this is not the case, you may have to change the connections on the motors.
Wheel encoder check:
Checks the odometer. The odometer serves to measure distances or determine the speed (car speedometer). After the start, move the wheels
with the hand. The count values are displayed in the output window. If you move both wheels evenly in one direction, the count values must be
similar. If this is not the case, you have to bend the photo transistors or IR diodes on the odometer slightly or check the encoder disk to see
whether this is properly blackened.
with the hand. The count values are displayed in the output window. If you move both wheels evenly in one direction, the count values must be
similar. If this is not the case, you have to bend the photo transistors or IR diodes on the odometer slightly or check the encoder disk to see
whether this is properly blackened.
e) The PRO-BOT128 library
To save you from having to write all hardware drivers for the PRO-BOT128 yourself in order to start right away, the demo programs contain a
library for these. This already contains various behaviours and all hardware drivers for the PRO-BOT128.
library for these. This already contains various behaviours and all hardware drivers for the PRO-BOT128.
The following lines explain the syntax and the use of the library. Of course you can expand this for own applications and functions.
PRO_BOT128_INIT()
Initialisation of the PRO-BOT128's basic hardware. This function must always be called up first.
Example:
Sub main()
PRO_BOT128_INIT()
… main program …
End sub
BUTTON() as byte
Queries the button SW2 via interrupt, return as byte. SW2 can assume the status 0 or 1. Each press changes the status (toggle mode).
SYSTEM_CNT()
The timer 2 interrupt is in charge of reading out the speed of the wheels. Here you can also integrate an own counter variable. The timer
resolution is 10ms.
resolution is 10ms.
FLL_ON()
Switches the front left LED on.
FLL_OFF()
Switches the front left LED off.