Project Hearoid.

The odd thing is, part of me wants to see it go up in flames Is that bad?..

WHY you did such good work on your robot

The battery not the robot!

I know you meant the battery,that poor battery hate to be in his shoes

You'll be disappointed. It's only a good flare, and smoke show. Don't try putting it out, and it will melt almost anything you put it in.

Just don't ruin the charger...

If you get a chance Rich send me an email at [email protected].

Den

Sorry, I did see the other message earlier but completely forgot about it. Just sent you email...

Well since my battery is toast (not literally, I didn't bother turning it in to an expensive flair) and the new ones haven't turned up yet, nor have my resistors, diodes etc. for the small circuits I want to remake I've not really done much on the robot today, but I have re-written my init script (the script which automatically runs when I start the project from the shortcut).

It still needs a little bit of work but it's getting there. A few bits I need to check but can't until I get the new battery.

Feel free to grab bits of it or ideas or whatever, here it is...

# Init script for start up
# Give verbal commentary
Say("Initiating Startup Sequence")
ControlCommand("Speech Recognition", PauseOn)
Sleep(2500)

# AutoConnect

# Configuration
$noofEZBs = 1
$maxattempts = 3
$waittime = 8000

IF ($noofEZBs = 1)
  Say("Connecting Easy Bee")
ELSEIF ($noofEZBs > 1)
  Say("Connecting Easy Bees")
ENDIF 
$attempts = 1
:begin0
IF (IsConnected(0) = FALSE)
  Print ("Board 0 not connected")
  Print ("Attempting connection")
  Print ("Attempt "$attempts" of "$maxattempts)
  ControlCommand("Connection", Connect0)
  Sleep($waittime)
  $attempts = $attempts++
  IF ($attempts > $maxattempts)
    Goto(failed)
    IF ($noofEZBs >= 2)
      Goto(begin1)
    ELSE 
      Goto(end)
    ENDIF 
  ENDIF 
  Goto(begin0)
ELSE 
  Print("Connected to board 0 OK")
  Say("Board Zero Connected")
ENDIF 
  
:begin1
IF (IsConnected(1) = FALSE)
  Print ("Board 1 not connected")
  Print ("Attempting connection")
  Print ("Attempt "$attempts" of "$maxattempts)
  ControlCommand("Connection", Connect1)
  Sleep($waittime)
  $attempts = $attempts++
  IF ($attempts > $maxattempts)
    Goto(failed)
    IF ($noofEZBs >= 3)
      Goto(begin2)
    ELSE 
      Goto(end)
    ENDIF 
  ENDIF 
  Goto(begin1)
ELSE 
  Print("Connected to board 1 OK")
  Say("Board One Connected")
ENDIF 
  
:begin2
IF (IsConnected(1) = FALSE)
  Print ("Board 2 not connected")
  Print ("Attempting connection")
  Print ("Attempt "$attempts" of "$maxattempts)
  ControlCommand("Connection", Connect2)
  Sleep($waittime)
  $attempts = $attempts++
  IF ($attempts > $maxattempts)
    Goto(failed)
    IF ($noofEZBs >= 4)
      Goto(begin3)
    ELSE 
      Goto(end)
    ENDIF 
  ENDIF 
  Goto(begin2)
ELSE 
  Print("Connected to board 2 OK")
  Say("Board Two Connected")
ENDIF 
  
  
:begin3
IF (IsConnected(3) = FALSE)
  Print ("Board 3 not connected")
  Print ("Attempting connection")
  Print ("Attempt "$attempts" of "$maxattempts)
  ControlCommand("Connection", Connect3)
  Sleep($waittime)
  $attempts = $attempts++
  IF ($attempts > $maxattempts)
    Goto(failed)
    IF ($noofEZBs >= 5)
      Goto(begin4)
    ELSE 
      Goto(end)
    ENDIF 
  ENDIF 
  Goto(begin3)
ELSE 
  Print("Connected to board 3 OK")
  Say("Board Three Connected")
ENDIF 
  
:begin4
IF (IsConnected(4) = FALSE)
  Print ("Board 4 not connected")
  Print ("Attempting connection")
  Print ("Attempt "$attempts" of "$maxattempts)
  ControlCommand("Connection", Connect4)
  Sleep($waittime)
  $attempts = $attempts++
  IF ($attempts > $maxattempts)
    Goto(failed)
    Goto(end)
  ENDIF 
  Goto(begin4)
ELSE 
  Print("Connected to board 4 OK")
  Say("Board Four Connected")
ENDIF 
  
:failed
Print("Connection Failed")
Say("Connection Failed")
$attempts = 1
Return()

:end

# Avoid HBridge random movement at start up
Forward(10,1)
Stop()

# Reset all servos
ServoSpeed(D1,0)
ServoSpeed(D2,0)
ServoSpeed(D7,0)
ServoSpeed(D10,0)
ServoSpeed(D11,0)
ServoSpeed(D12,0)
ServoSpeed(D13,0)
ServoSpeed(D14,0)
ServoSpeed(D19,0)
Servo(D1,50)
Servo(D2,60)
Servo(D7,50)
Servo(D10,50)
Servo(D11,50)
Servo(D12,50)
Servo(D13,50)
Servo(D14,50)
Servo(D19,50)
ReleaseAll()

# Start script for battery monitor
Say("Monitoring Batteries")
ControlCommand("battery", ScriptStart)
Sleep(4000)

# Start script for collission detection
Say("Starting Object Detection")
ControlCommand("irdetect", ScriptStart)
# Move sonar radar randomly then center
ServoRandom(D7,35,45)
ServoRandom(D7,55,65)
ServoRandom(D7,35,45)
ServoRandom(D7,55,65)
ServoRandom(D7,35,45)
ServoRandom(D7,55,65)
Servo(D7,50)
ControlCommand("Radar Scan", PauseOff)
Sleep(1000)

# Test the lamps
Say("Checking Circuits")
$blinkcount = 0
:blinkeyes
IF ($blinkcount <5)
  Set(D8,on)
  Set(D9,on)
  Sleep(100)
  Set(D8,off)
  Set(D9,off)
  $blinkcount++
  Sleep(100)
  GOTO(blinkeyes)
ENDIF 
Set(D9,on)

# Set servo speeds for head and arms
ServoSpeed(D1, 2)
ServoSpeed(D2, 2)
ServoSpeed(D10, 3)
ServoSpeed(D11, 3)
ServoSpeed(D12, 3)
ServoSpeed(D13, 3)
ServoSpeed(D14, 3)

# Test the head movement
Say("Checking Movement")
# Head movement code here...
# Slowly move head tilt to 70 then 50 then 60
:headtilt1
IF (GetServo(D2) < 70)
  ServoUp(D2,1)
  Goto(headtilt1)
EndIf
:headtilt2
IF (GetServo(D2) > 30)
  ServoDown(D2,1)
  Goto(headtilt2)
EndIf
:headtilt3
IF (GetServo(D2) < 50)
  ServoUp(D2,1)
  Goto(headtilt3)
EndIf

# Slowly move head pan to 35 then to 75 then to 50
:headpan1
IF (GetServo(D1) > 35)
  ServoDown(D1,1)
  Goto(headpan1)
EndIf
:headpan2
IF (GetServo(D1) < 75)
  ServoUp(D1,1)
  Goto(headpan2)
EndIf
:headpan3
IF (GetServo(D1) > 50)
  ServoUp(D1,1)
  Goto(headpan3)
EndIf

# Dance
ControlCommand("Script Manager", ScriptStart, "Dance1")

# Turn the rest on
ControlCommand("Speech Recognition", PauseOff)
ControlCommand("Camera", PauseOff)
ControlCommand("Personality Generator", PauseOff)
ControlCommand("Variable Watch", PauseOff)

# All done
Say("System Ready")

Wow, that's a heck of a start up script. Nice.

Do you have problems with your H-bridge jumping around at start up?