Programming Boe-Bots (Part 1)

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Programming Boe-Bots (Part 1)

• Slides taken from WAM tutorial, and course
  material developed by Dean Brock and Tammy Gammon

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Module Components
Serial SignalConditioningConditions
voltagesignals between PC serialconnection (/-
12V) and BASIC Stamp (5V) for Programming.
5V RegulatorRegulates voltageto 5V with a
supply of 5.5VDC to 15VDC
EEPROMStores the tokenized PBASIC program.
ResonatorSets the speed at whichinstructions
are processed.
Interpreter ChipReads the BASIC program from the
EEPROM and executes the instructions.
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Module Pins
Pin 1 SOUT Transmits serial data during
programming and using theDEBUG instruction
Pin 24 VIN Un-regulated input
voltage (5.5-15V)
Pin 23 VSS Ground (0V)
Pin 2 SIN Receives serial data during
programming
Pin 22 RES Reset- LOWto reset
Pin 3 ATN Uses the serial DTR line togain the
Stamps attention for programming.
Pin 21 VDD Regulated 5V.
P0
P15
P1
P14
Pin 4 VSS CommunicationsGround (0V).
P2
P13
P3
P12
P4
P11
P5
P10
P6
P9
P7
P8
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• The Board of Education makes it easy to connect
  devices, power up and program.

5V regulator
Battery
Servo Connections
Wall DCSupply
Power Header
Power OnLight
I/O Header
Breadboard
Serial ProgrammingPort
Reset Switch
Off/Module Power/Servo Power
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A Simple Program

• Enter your first program into the BASIC Stamp
  Editor.

• Notice that different code appears in different
  colors. This is a great help in writing correct
  code!

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'Running' Your Program

• Download, or Run your program by clicking the Run
  button.
• The DEBUG Window should appear showing your
  message.

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How a Program is Placed on the Module

• A program is writtenin the BASIC Stamp Editor.

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Directives

• Directives are special instructions to the Editor
  ensuring the the code is tokenized for the
  correct PBASIC version and for the correct BASIC
  Stamp.
• When starting a new program, be sure to click the
  buttons to add these directives to your program.

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DEBUG Window
Hello, it's me, your BASIC Stamp!
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Getting Help
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Program like you are an engineer

• Organize and structure your code.
• Use indentation to clarify organization.
• Indent loops and code skipped by ifs
• Use white space wisely.
• Follow a consistent style and format.
• Use comments to explain your code.
• input 14 push button normal timing
• Use variable and loop names which clarify purpose.

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The Program Header

• Identify the code.
• Your name
• Project Title
• Date
• Title/file of code
• Briefly state purpose of code.

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Good Program Structure

• Header
• Define the constants
• green con 0
• Declare the pins
• input 14 push button for normal timing
  
• output green green LED
• Declare and comment your variables
• n var byte index for varying blink rate

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I/O Pin Language

• input 14 normal mode pushbutton
• if in14 then
• output 0 green led
• out0 0
• pause 500
• out0 1
• You dont even have to declare output
• low green
• pause 500
• high green

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Declaring Assigning Variables

• A variable its size must be declared
• normal var bit allocates 1 bit (0 or 1)
• x var nib nibble, 4 bits (0
  15)
• y var byte byte, 8 bits (0 255)
• counter var word 16 bits (0 65,535)
• Variables contain values which can be changed.
  Examples
• normal in14
• normal normal
• counter counter 1

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If . then Function

• Arithmetic and logical operators may be used in
  the test condition.
• A bit of code
• if in14 0 then normal_mode
• if in14 0 and in7 0 then non_resp
• Why wouldnt you want to list ifthen statements
  as shown?

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For.next

• Iterative loop
• Example to create varying pause times
• x var nib
• for x 1 to 10
• pause 200 x
• next

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Of course, we must mention

• goto label creates continuous loop
• or skips to another part of program
• And all happily ever-afters finish with a the
  end or just END in PBASIC.

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Sensors

• A microcontroller-controlled system changes its
  outputs according to its input signals
• A sensor is an input device used to detect or
  measure.
• Example push-button

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Push-Button Sensor
OPEN (Not pressed)
CLOSED (Pressed)
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Push-Button Sensor
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Sample Code

• input 2 push button
• recheck
• if in2 0 then blink
• goto recheck
• blink
• make some led blink
• goto recheck