Parallax Penguin, Руководство пользователя

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Copyright © Parallax Inc. Penguin Robot (#27313-27316) v1.4 2/16/2010 Page 18 of 23
3.0 PROGRAMMING THE PENGUIN
3.1. PROGRAMMING CONCEPT
Programming the Penguin to walk is a matter of shifting its center of gravity from side to side with the tilt
servo, coordinated with moving the legs forward and backward with the stride servo. The BS2px24’s high
speed and expanded memory and RAM are useful for storing motion sequences and for performing the
computations needed in sensor-based autonomous navigation.
Close the Debug Terminal before downloading a new program, disconnecting the USB cable,
or switching off the power to your tethered Penguin!
If you fail to close the Debug Terminal
before any of these actions, the port may hang up and the BASIC Stamp Editor may freeze when you
next try to program your Penguin. If this happens, close the Editor with the Task Manager. Be sure to
download the latest version of the BASIC Stamp Editor from www.parallax.com.
3.2. SERVO CALIBRATION
The Penguins servos must be calibrated before the Penguin can walk. This is a crucial step and the
Penguin will not walk without it.
1) Run Penguin-ServoCalibration.bpx.
2) Click in the white Transmit area at the top of the Debug Terminal.
3) Press Enter to enable the servos.
4) Press + and
−
to adjust the tilt servo until the Penguin can stand level.
5) Press the space bar to switch to the stride servo.
6) Press + and
−
to adjust the stride servo until the Penguin’s feet are in line with each other.
7) Press S to save the new settings.
8) Listen for the long beep to ensure that the settings were saved.
Tip: Pressing 1 through 5 changes the coarseness of the adjustments
3.3. PENGUIN’S BASIC STAMP 2PX24 PINOUT
I/O Pin Description Direction
P0 Photoresistor – right Output
P1 Photoresistor – left Output
P2 Infrared emitter – right Output
P3 Infrared emitter – left Output
P4 Infrared receiver Input
P5 Front I/O expansion port Input/Output
P6 Servo stride Output
P7 Servo tilt Output
P8 7-segment LED clock Output
P9 7-segment LED data Output
P10 7-segment LED latch Output
P11 Rear I/O expansion port Input/Output
P12 Speaker Output
P13 Hitachi HM55B Compass – CLK (clock) Output
P14 Hitachi HM55B Compass – CS (chip select) Output
P15 Hitachi HM55B Compass – DIN/DOUT (data in/out) Input/Output