Page 326 ·
Robotics with the Boe-Bot
√
Calculate the values of m you will use with the */ operator by multiplying m by
256.
√
Substitute your value of m and b in this line of code from
BalancePhtoresistors.bs2:
timeLeft = (timeLeft */ 351) + 7
√
Enter, save, and run your adjusted version of BalancePhotoresistors.bs2.
√
Expose both photoresistors to the same light level.
√
Verify that the “after” values are similar and corrected for differences in the
“before” values.
√
Choose a different light level and again, expose both photoresistors to it.
√
Check the “after” values again for similarity.
√
When you have determined your values for m and b, you can modify
RoamingTowardTheLight.bs2 by uncommenting the equation between
GOSUB
Test_Photoresistors
and
GOSUB Average_And_Difference
. Your m value
will replace
351
and your b value will replace
7
.
' Robotics with the Boe-Bot - BalancePhotoresistors.bs2
' Test adjustments to Boe-Bot photoresistor circuits.
' {$STAMP BS2} ' Stamp directive.
' {$PBASIC 2.5} ' PBASIC directive.
timeLeft VAR Word ' Variable declarations.
timeRight VAR Word
DEBUG "PHOTORESISTOR VALUES", CR, ' Initialization.
"timeLeft timeRight", CR,
"-------- ---------"
DO ' Main routine.
HIGH 6 ' Left RC time measurement.
PAUSE 3
RCTIME 6,1,timeLeft
HIGH 3 ' Right RC time measurement.
PAUSE 3
RCTIME 3,1,timeRight
DEBUG CRSRXY, 0, 3, ' Display measurements.
DEC5 timeLeft,
" ",
