' www.crustcrawler.com
' Copyright 2006 CrustCrawler Inc.
'
'------- [ QuadCrawlerPingS3.bs2 ] ----------------------------------------------
'{$STAMP BS2}
'{$PBASIC 2.5}
'
'   File....... QuadCrawlerPingS3.bs2
'   Purpose.... Autonomous operation with the S3 tilt pan and
'               Ping))) ultra sonic sensor.
'   Author..... CrustCrawler Inc. (Mike Gebhard)
'   Help....... http://forum.crustcrawler.com/
'   Started.... 05/03/2006
'   Updated.... 03/28/2007
'   Version.... 2.0
'
'   Hardware
'   (1) CrustCrawler HexRod Robotic Kit
'   (1) CrustCrawler S3
'   (1) Parallax BOE
'   (1) Parallax Basic Stamp II
'   (1) Parallax PSC
'
'=========================================================================
' Updates 03/28/2007
'=========================================================================
' * Set delay to fire after reading each row in the EEPROM tables
'   and NOT after reading each column.
'
'=========================================================================
' Overview
'=========================================================================
' Obstacle avoidance using an S3/PING))) combo on a QuadCrawler.
'
'=========================================================================
' Getting Started
'=========================================================================
' Download the program watch the Rod
'
'=========================================================================
' Connections
'=========================================================================
'
'  S3      to      PSC
' -----           -----
' S3Y Servo        ch8
' S3X Servo        ch9
'
' PING     to      BOE
'------           -----
' GND              Vss
' 5V               Vdd
' SIG              Pin 14
'
'=========================================================================
' Overview
'=========================================================================
' Distance                  Action
'----------                --------
' < 15 cm                   Backup 3 steps
' 16 to 29                  Look far left/Ping look far right/Ping
' 30 to 59                  Look left/Ping look right/Ping
'
' When looking left and right, the PING is triggered and the distances
' are compared. The robot will turn in the direction of the largest
' distance reading.
'
'=========================================================================
' Sub Routines
'=========================================================================
' Please read all documentation and review demo/base code for the
' QuadCrawler, PSC, BOE/BS2, PING, and S3))).  The code below is a combination
' the QuadCrawlerLCD.bs2 and QuadCrawlerPing.bs2.
'
'-------------------------------------------------------------------------
' -----[ I/O Definitions ]------------------------------------------------
PSC             PIN     15                    ' PSC module
Ping            PIN     14                    ' PING)))

' ----[ Set baud for all STAMP versions ]---------------------------------
#SELECT $STAMP
  #CASE BS2SX, BS2P
    Baud        CON     1021 + $8000
  #CASE BS2PX
    Baud        CON     1646 + $8000
  #CASE #ELSE
    Baud        CON     396 + $8000
#ENDSELECT

    ' -----[ PING))) Constants ]----------------------------------------------
#SELECT $STAMP
  #CASE BS2, BS2E
    Trigger     CON     5                   ' trigger pulse = 10 uS
    Scale       CON     $200                ' raw x 2.00 = uS
  #CASE BS2SX, BS2P, BS2PX
    Trigger     CON     13
    Scale       CON     $0CD                ' raw x 0.80 = uS
  #CASE BS2PE
    Trigger     CON     5
    Scale       CON     $1E1                ' raw x 1.88 = uS
#ENDSELECT

RawToIn         CON     889                 ' 65536 / 73.746 (with **)
RawToCm         CON     2257                ' 65536 / 29.034 (with **)

IsHigh          CON     1                   ' for PULSOUT
IsLow           CON     0

RefreshConv     CON    50                   ' Pause = refresh*RefreshConv

'---- [Walking Variables] ------------------------------------------------
ptrEEPROM       VAR     Word                ' Gait select
servoPosition   VAR     Word                ' Servo Position
temp            VAR     Word                ' Workspace
servoAddr       VAR     Byte                ' Servo addresses
ramp            VAR     Byte                ' Ramp used in SEROUT
vel             VAR     Byte                ' Value from speed screen
rightRamp       VAR     Byte                ' Right side ramp values
leftRamp        VAR     Byte                ' Left side ramp values
limiter         VAR     Byte                ' Reduce stride
delay           VAR     Byte                ' Wait
steps           VAR     Nib                 ' Numbers of steps
rowCounter      VAR     Nib                 ' Count EERROM rows


' -----[ Variables ]-------------------------------------------------------
dist            VAR     Word                ' distance measurement
counter         VAR     Byte                ' Loop counter
char            VAR     Byte                ' Character sent to LCD
dir             VAR     Nib                 ' Direction

'-----[ Horizontal Leg Constants ]----------------------------------------
' Adjustable leg centers
' Right Side - Increase value to move leg forward
Center1         CON     750  'Front
Center2         CON     750  'Back
'Left Side
Center3         CON     750  'Front
Center4         CON     800  'Back

'-----[ Stride Calculations ]---------------------------------------------
'/////////////////////////////////////////////////////////////////////////
' The stride value determines the maximum value to move a horizontal
' servo from center.  So a stride value of 200 means move 200 units
' plus servo center and 200 units minus servo center or 200 + 200
' units.
' 5.5556 units = 1 degree
' a Stride of 200 = 72 degrees or
' (200*2)/5.556 = 72
'/////////////////////////////////////////////////////////////////////////
Stride          CON     200

Leg1Center      CON     Center1
Leg1Forward     CON     Center1+Stride          ' Stride + Leg1 Center
Leg1Back        CON     Center1-Stride

Leg2Center      CON     Center2
Leg2Forward     CON     Center2+Stride
Leg2Back        CON     Center2-Stride

Leg3Center      CON     Center3
Leg3Forward     CON     Center3-Stride
Leg3Back        CON     Center3+Stride

Leg4Center      CON     Center4
Leg4Forward     CON     Center4-Stride
Leg4Back        CON     Center4+Stride

LiftRamp        CON     $1                    ' Vertical servo ramp

'----- [Adjustable vertical servo positions] --------------------------------
RaiseRight      CON     300                     ' Raised and lowered
LowerRight      CON     1200                    ' vertical servo values
RaiseLeft       CON     1200
LowerLeft       CON     300

'---[S3 constants]--------------------------------------------------------
S3Y             CON     8
S3X             CON     9
S3Ramp          CON     $7
LookLeft90      CON     400
LookRight90     CON     1100
LookLeft45      CON     600
LookRight45     CON     900

TooClose        CON     10
Far             CON     50
NumOfSteps      CON     2

'----- [Direction Constants] ---------------------------------------------
Ahead           CON     0
ForwardRight    CON     1
RightSpin       CON     2
BackRight       CON     3
Backward        CON     4
BackLeft        CON     5
LeftSpin        CON     6
ForwardLeft     CON     7

'----- [ App Constants ]---------------------------------------------------
EOD             CON     $FF                 ' End of data block

'----- [EEPROM DATA ] ----------------------------------------------------
'                  'Right                 'Left
Forward DATA $01,Word RaiseRight,    $07,Word RaiseLeft,
             $00,Word Leg1Forward,   $06,Word Leg4Forward,  'Reset
             $02,Word Leg2Back,      $04,Word Leg3Back,     'Thrust
             $01,Word LowerRight,    $07,Word LowerLeft,

             $03,Word RaiseRight,    $05,Word RaiseLeft,
             $00,Word Leg1Back,      $06,Word Leg4Back,     'Thrust
             $02,Word Leg2Forward,   $04,Word Leg3Forward,  'Reset
             $03,Word LowerRight,    $05,Word LowerLeft,
             EOD ' end of Forward

Back    DATA $01,Word RaiseRight,    $07,Word RaiseLeft,
             $00,Word Leg1Back,      $06,Word Leg4Back,     '
             $02,Word Leg2Forward,   $04,Word Leg3Forward,  '
             $01,Word LowerRight,    $07,Word LowerLeft,

             $03,Word RaiseRight,    $05,Word RaiseLeft,
             $00,Word Leg1Forward,   $06,Word Leg4Forward,  '
             $02,Word Leg2Back,      $04,Word Leg3Back,     '
             $03,Word LowerRight,    $05,Word LowerLeft,
             EOD ' end of Back

' Left Turn EEPROM values
LSpin DATA   $01,Word RaiseRight,    $07,Word RaiseLeft,
             $00,Word Leg1Forward,   $06,Word Leg4Back,     '
             $02,Word Leg2Back,      $04,Word Leg3Forward,  '
             $01,Word LowerRight,    $07,Word LowerLeft,

             $03,Word RaiseRight,    $05,Word RaiseLeft,
             $00,Word Leg1Back,      $06,Word Leg4Forward,  '
             $02,Word Leg2Forward,   $04,Word Leg3Back,     '
             $03,Word LowerRight,    $05,Word LowerLeft,
             EOD ' end of LSpin

' Right turn EEPROM Values
RSpin  DATA  $01,Word RaiseRight,    $07,Word RaiseLeft,
             $00,Word Leg1Back,      $06,Word Leg4Forward,  '
             $02,Word Leg2Forward,   $04,Word Leg3Back,     '
             $01,Word LowerRight,    $07,Word LowerLeft,

             $03,Word RaiseRight,    $05,Word RaiseLeft,
             $00,Word Leg1Forward,   $06,Word Leg4Back,     '
             $02,Word Leg2Back,      $04,Word Leg3Forward,  '
             $03,Word LowerRight,    $05,Word LowerLeft,
             EOD ' end of RSpin

'                Raise                Center           Lower
Neutral DATA $01,Word RaiseRight, $00,Word Center1, $01,Word LowerRight
        DATA $03,Word RaiseRight, $02,Word Center2, $03,Word LowerRight
        DATA $05,Word RaiseLeft,  $04,Word Center3, $05,Word LowerLeft
        DATA $07,Word RaiseLeft,  $06,Word Center4, $07,Word LowerLeft,
        EOD ' end of adjust legs
'_________________________________________________________________________

' 0 = normal mode
' 1 = debug mode
#DEFINE debugMode = 0

'Set the Quad to neutral
Reset_PSC:                                  ' Reset the Rod legs
  ptrEEPROM = Neutral
  limiter = 0
  GOTO Main
Initialize:                                 ' Init values
  ' Init limiter
  limiter = 75
  ' Inti velocity
  vel = 3
'_________________________________________________________________________                               ' Center legs

'/////////////////////////////////////////////////////////////////////////
' Set direction gait properties
'   Set ptrEEPROM to EEPROM block
'   Set left and right ramp values
'
' Parameters (dir)
' Return ()
'/////////////////////////////////////////////////////////////////////////
Set_Direction:
  SELECT dir
    CASE Ahead
      ptrEEPROM = Forward
      GOSUB Equal
    CASE ForwardRight
      ptrEEPROM = Forward
      GOSUB SlowRight
    CASE RightSpin
      ptrEEPROM = RSpin
      GOSUB Equal
    CASE BackRight
      ptrEEPROM = Back
      GOSUB SlowRight
     CASE Backward
      ptrEEPROM = Back
      GOSUB Equal
    CASE BackLeft
      ptrEEPROM = Back
      GOSUB SlowLeft
    CASE LeftSpin
      ptrEEPROM = LSpin
      GOSUB Equal
     CASE ForwardLeft
      ptrEEPROM = Forward
      GOSUB SlowLeft
  ENDSELECT
'_________________________________________________________________________


'/////////////////////////////////////////////////////////////////////////
' Set delay
' Delay provides time for the servos to reach a position and is based
' on ramp (vel).
' This is an adjustable value.
'
' Parameters (vel)
' Return (delay)
'/////////////////////////////////////////////////////////////////////////
SetDelay:
  IF vel < 9 THEN
    delay = 30
  ELSE
    delay = 10
  ENDIF
'_________________________________________________________________________

'#IF debugMode #THEN
  'GOSUB Trace
  'PAUSE 2000
'#ENDIF

'/////////////////////////////////////////////////////////////////////////
' Main walking engine
'
' Parameters ()
' Return ()
'/////////////////////////////////////////////////////////////////////////
Main:
   'Read 3 bytes from EEPROM
  READ ptrEEPROM, ServoAddr, servoPosition.LOWBYTE, servoPosition.HIGHBYTE
  DO WHILE servoAddr <> $FF
  'Vertical servo are odd numbers
    IF (servoAddr // 2) = 1 THEN
      ramp = LiftRamp
    ELSE
      'Set right side ramp (servo speed)
      IF (servoAddr = $00) OR (servoAddr = $02) THEN
        ramp = rightRamp
      ENDIF
      'Set left side ramp
      IF(servoAddr = $04) OR (servoAddr = $06) THEN
        ramp = leftRamp
      ENDIF
      'Limit horizontal swing if limiter variable has a
      ' value greater than zero
      IF (limiter > 0)  THEN
        GOSUB Limit_Stride
      ENDIF
    ENDIF
    GOSUB Write_PSC
    'Increment pointer and get the next 3 EEPROM values
    ptrEEPROM = ptrEEPROM + 3
    READ ptrEEPROM, ServoAddr, servoPosition.LOWBYTE, servoPosition.HIGHBYTE
#IF debugMode #THEN
  GOSUB Trace
#ENDIF
  LOOP

  IF ptrEEPROM = Neutral + 36 THEN            ' First run centers legs
    limiter = 75                              ' Set limiter
    PAUSE 2000                                ' Pause
  ENDIF

IF (steps > 0) AND (ptrEEPROM = Back + 48) THEN
  steps = steps - 1
  ptrEEPROM = ptrEEPROM - 48
ELSE
 Get_Ping_Reading:
  GOSUB Get_Sonar                           ' Get raw PING reading
  GOSUB C_Centimeter                        ' Convert to centimeter
  GOSUB Determine_Direction
ENDIF

GOTO Main 'Loop forever
'_________________________________________________________________________

'/////////////////////////////////////////////////////////////////////////
' Write position commands to the PSC
'
' Parameters (ServoAddr, servoPosition, delay)
' Return Nothing
'/////////////////////////////////////////////////////////////////////////
Write_PSC:
  SEROUT PSC,Baud,["!SC",ServoAddr,
         Ramp,servoPosition.LOWBYTE,
         servoPosition.HIGHBYTE, CR]
  IF rowCounter = 1 THEN
    PAUSE delay
  ENDIF
RETURN
'_________________________________________________________________________

'/////////////////////////////////////////////////////////////////////////
' Reduce leg travel by the value in limiter.  This allows for run-time
' horizontal leg control.
'
' Parameters (ServoAddr, servoPosition)
' Return (servoPosition)
'/////////////////////////////////////////////////////////////////////////
Limit_Stride:
  'Get joint center value and put it in temp
  SELECT ServoAddr
    CASE $00
      temp = Center1
    CASE $02
      temp = Center2
    CASE $04
      temp = Center3
    CASE $06
      temp = Center4
    CASE ELSE
    'Do Noting
  ENDSELECT
    'Reduce swing from center by the value in limiter
    IF servoPosition > temp THEN
      servoPosition = servoPosition - limiter
    ELSE
      servoPosition = servoPosition + limiter
    ENDIF
RETURN
'_________________________________________________________________________

'/////////////////////////////////////////////////////////////////////////
' Equal
'
'Parameters (vel)
'Return (rightRamp, leftRamp)
'/////////////////////////////////////////////////////////////////////////
Equal:
  rightRamp = vel
  leftRamp = vel
RETURN
'_________________________________________________________________________

'/////////////////////////////////////////////////////////////////////////
' Slow right side
'
'Parameters (vel)
'Return (rightRamp, leftRamp)
'/////////////////////////////////////////////////////////////////////////
SlowLeft:
  rightRamp = vel
  leftRamp = vel + $5
RETURN
'_________________________________________________________________________

'/////////////////////////////////////////////////////////////////////////
' Slow left side
'
'Parameters (vel)
'Return (rightRamp, leftRamp)
'/////////////////////////////////////////////////////////////////////////
SlowRight:
  rightRamp = vel + $5
  leftRamp = vel
RETURN
'_________________________________________________________________________

'/////////////////////////////////////////////////////////////////////////
' This subroutine triggers the Ping sonar sensor and measures
' the echo pulse.  The raw value from the sensor is converted to
' microseconds based on the Stamp module in use.  This value is
' divided by two to remove the return trip -- the result value is
' the distance from the sensor to the target in microseconds.
' --John Williams "Servo October 2005"
'/////////////////////////////////////////////////////////////////////////

Get_Sonar:
  Ping = IsLow                              ' make trigger 0-1-0
  PULSOUT Ping, Trigger                     ' activate sensor
  PULSIN  Ping, IsHigh, dist                ' measure echo pulse
  dist = dist */ Scale                      ' convert to uS
  dist = dist / 2                           ' remove return trip
RETURN
'_________________________________________________________________________


'/////////////////////////////////////////////////////////////////////////
' Convert distance reading to centimeter
'
' Parameters (dist)
' Return (dist)
'/////////////////////////////////////////////////////////////////////////

C_Centimeter:
  dist = dist ** RawToCm                    ' convert to centimeters
RETURN
'_________________________________________________________________________


'/////////////////////////////////////////////////////////////////////////
' Convert distance reading to inches
'
' Parameters (dist)
' Return (dist)
'/////////////////////////////////////////////////////////////////////////
'C_Inches:
  'dist = dist ** RawToIn                    ' convert to inches
'RETURN
'_________________________________________________________________________


'/////////////////////////////////////////////////////////////////////////
' Determine which direction is most clear.
'
' Distance                  Action
'----------                --------
' < 15 cm                   Backup 3 steps
' 16 to 29                  Look far left/Ping look far right/Ping
' 30 to 59                  Look left/Ping look right/Ping
'
' When looking left and right, the PING is triggered and the distances
' are compared. The robot will turn in the direction of the largest
' distance reading.
'
' Parameters (dist)
' Return (dist)
'/////////////////////////////////////////////////////////////////////////

Determine_Direction:
  SELECT dist
    CASE < 15
      ptrEEPROM = Back
      steps = NumOfSteps
    CASE < 30
      servoPosition = LookLeft90
      GOSUB Look
      temp = dist
      servoPosition = lookRight90
      GOSUB Look
      IF temp > dist THEN
        ptrEEPROM = LSpin
        steps = NumOfSteps
      ELSE
        ptrEEPROM = RSpin
        steps = NumOfSteps
      ENDIF
    CASE < 60
      servoPosition = LookLeft45
      GOSUB Look
      temp = dist
      servoPosition = lookRight45
      GOSUB Look
      IF temp > dist THEN
        ptrEEPROM = Forward
        steps = NumOfSteps
        GOSUB SlowLeft
      ELSE
        ptrEEPROM = Forward
        steps = NumOfSteps
        GOSUB SlowRight
      ENDIF
    CASE ELSE
      ptrEEPROM = Forward
      GOSUB Equal
    ENDSELECT

    GOSUB Center_S3
RETURN
'_________________________________________________________________________

'/////////////////////////////////////////////////////////////////////////
' Turn the S3 left or right
'
' Parameters (servoPosition)
' Return ()
'/////////////////////////////////////////////////////////////////////////
Look:
  SEROUT PSC,Baud,["!SC", S3X, S3Ramp, servoPosition.LOWBYTE, servoPosition.HIGHBYTE, CR]
  PAUSE 1000
  GOSUB Get_Sonar
RETURN
'_________________________________________________________________________


'/////////////////////////////////////////////////////////////////////////
' Center the S3 but look slightly downward
'
' Parameters ()
' Return ()
'/////////////////////////////////////////////////////////////////////////
Center_S3:
  servoPosition = 650
  SEROUT PSC,Baud,["!SC",S3Y, S3Ramp,servoPosition.LOWBYTE, servoPosition.HIGHBYTE, CR]
  servoPosition = 750
  SEROUT PSC,Baud,["!SC",S3X, S3Ramp,servoPosition.LOWBYTE, servoPosition.HIGHBYTE, CR]
RETURN
'_________________________________________________________________________


'/////////////////////////////////////////////////////////////////////////
' Writes variables to the debug terminal when DebugMode = 1
'
' Copy and paste the Debug tool to strategic location in the code.  This
' allow you to see what is in each variable in the Trace sub.
'/////////////////////////////////////////////////////////////////////////
'DEBUG Tool
#IF debugMode #THEN
  GOSUB Trace
#ENDIF

' Write trace information
'   to debug terminal
#IF debugMode #THEN
  Trace:
    DEBUG CLS, ?ramp,
          ?leftramp,
          ?rightramp,
          ?dir,
          ?vel,
          ?limiter,
          ?ptrEEPROM,
          ?dist,
          ?steps
  RETURN
#ENDIF

'_________________________________________________________________________