Robosapien Autonomous V.1.1 VIDEO UP Chick  here...DOWNLOAD/OPEN NOW to watch the video that I have made of my robosapien demonstrating this new code that I  used with my BasicX-24 and RAMB board..... Thnx All @YahooGrP 4 Support &  Chris Odom for the next idea for upgrade V.1.3 in the next few weeks ;-) This is my latestest updated version of Robosapien Autonomous V.1.1 July 09 2005 Now  Robosapien is more aware of his surroundings... He starts by taking a simple reading... in which if something is to Far he  continues to move forward, stopping every 3 seconds to take a new reading... If Robosapien notices something that is getting close, but not to to close, he will call a program, in which will raise his left arm take a reading, lower his arm, and then raise his other arm, causing his head and  sensor to pan to the sides getting readings for each sides... Then the chip does a mathamatical equation simply is one side is greater then the other call  turn(side) and if the other side is bigger call this side..... after  his turn has happened, he loops back to the beginning of the code resesting his body postion (for best movement/walking straight) and tkaing a reading..... If something is to to close, and Robosapien recognizes it, he will talk a few steps back, and then call the Cehck sides in which he will take readings from the  sides and the side furthest away he will turn to and moveforward... such problems I encountered were timing the arms to raise fast enough and delay so that the sensor could take a stable reading.. I also fixed this by making the  sensor take 3 readings form each side and diving it into 3 giving me a more  accurrate value of the sides.. certain updates would include converting the value to CM, or lighting up the BX chips GREEN/RED lights when he is in a certain mode so it is easy to understand when you do not have him plugged into a pc another update would be something about walking forward a  certain amount of times and then take a reading just because he has being  walking straight for so long, he might be trapped under a chair/ or something, this might help “glitches” in the system since their is only 1 sensor plugged  into him here is what the BX-24 downloader windows looks like when I turn on my RS and the  code below this and let him wander my room for a few minutes.. with my 25 foot  cable ***  Finished Downloading RS Walking Forward RS Walking Forward RS Walking Forward RS Checking  Side Val Val for Right is - 4 Val for Left is - 109 Robosapien TurnRight RS Checking Side Val Val for Right is - 169 Val for Left is - 4 Robosapien Turn Left RS Walking Forward RS Walking Forward RS Walking Forward RS Walking Forward RS Walking Forward RS Walking Forward RS Walking Forward RS Walking Forward RS Walking Forward RS Walking Forward RS Walking Forward RS Walking Forward RS Walking Forward RS Walking Forward RS Walking Forward RS Walking Forward RS Checking Side Val Val for Right is - 145 Val for Left is  - 266 Robosapien TurnRight RS Walking Forward RS Walking Forward RS Checking Side Val Val for Right is - 85 Val for Left is  - 165 Robosapien TurnRight RS Walking Forward RS Walking Forward RS Walking Forward RS Walking Forward RS Walking Forward RS Walking Forward RS Walking Forward RS Checking Side Val Val for  Right is - 97 Val for Left is - 97 RS Checking Side Val Val for Right  is - 100 Val for Left is - 116 Robosapien TurnRight RS Walking Forward RS Walking Forward RS Walking Forward RS Walking Forward RS Walking Forward '********************************************************************************* '  Autonomous Robosapien Version 1.0.0.02 Extreme Elimination BETA '********************************************************************************* '  Robosapien w/ RAMB (BasicX 24) by Chance Brown "knitsu" ' Sharp Infrared Sensor connected to Pin 12 on the BX-24 ' IR PIN from Robosapien connected to  Pin 13 on the BX-24 ' more Robosapien BX-24 can be found at '  http://evosapien.com/robosapien-hack/knitsu/ ' This Program basically allows your Robosapien to wander on his ' own  "Autonomously" until the Batteries die, or he get's stuck in a ' tight  spot that he cant get proper readings from. ' for  adding something new to the program I recommend this: ' trying to add the actual Sensor's robosapien has built in him ' but  you will have to find out the IR codes for Program LEFT/RIGHT sensors ' and  apply those to the BITS below, where the other RS Control Commands ' are  located. This way if Robosapien does get stuck in a corner, or  table/chair ' he will most likely hit his sensor and perform the operation you programmed in ' here for that sensor to do, like Walk Back, Walk Back, Left Turn, Left Turn,  ROAR ' or something along those lines. ' thanks to all the people that have being helping me out, R.Oschler, Brian.P,  T.Andley ' and  also to the big man himself M.W. Tilden for creating this amazing Robot for me  to ' learn  the basics 101 of Robotics, I thank you so much! '********************************************************************************** '********************************************************************************** Option Explicit Public Const LowBit as single = 0.000833 'Time it takes for the low bit Public Const StartBit as single = 0.006664 'Time it takes for the start bit Public Const HighBit as single = 0.003332 'Time it takes for the high bit Public Const ClockBit as single = 0.000833 'Clock bit time Dim  ValueCentre as Integer ' Name of Centre Sensor Value Dim  ValueLeft as Integer ' Name of Left Sensor Value Dim  ValueRight as Integer ' Name of Right Sensor Value Dim  ValueRightAvg as Integer ' Dim  ValueLeftAvg as Integer ' Public Const Sapien As Byte = 12 'Robosapien iR is connected to pin '12 on the BX-24 'That is labled pin 8 on the motherboard Const  CenterIRPin As Byte = 13 'The sharp Sensor is connected to pin '13 on the BX-24 'That is labled pin 9 on the motherboard '********************************************************************* Public Sub Main() Do Call Reading Loop End  Sub '********************************************************************* Sub  Reading() Do ValueCentre = GetADC(13) If ValueCentre > 450 Then Call RSBackup Call Delay (0.5) End  If if ValueCentre < 150 THEN ' nothing in sight for a distance Call RSfoward End  If Call BackStep Call Delay(3.0) Call SensorCentre Loop End  Sub '********************************************************************* '  ROBOSAPIEN SHARP SENSOR CENTRE(INFRONT) READINGS '********************************************************************* Sub  SensorCentre() Do Call Putpin(Sapien,1) 'turns the Pin for Robosapien iR ON Debug.Print"RS Checking Side Values" Call Delay (3.0) CALL RIGHTHANDUP Call Delay (2.0) ValueRight= GetADC(13)+GetADC(13)+GetADC(13) ' Right Side  Value ValueRightAvg= ValueRight \ 3 Call Delay (0.7) debug.print"Val for Right is - " ;Cstr(ValueRightAvg) Call Delay (0.5) CALL RIGHTHANDDOWN Call Delay(2.0) Call LEFTHANDUP Call Delay (2.0) ValueLeft=GetADC(13)+GetADC(13)+GetADC(13) ' Left Side Value ValueLeftAvg= ValueLeft \ 3 Call Delay (0.7) debug.print"Val for Left is - " ;Cstr(ValueLeftAvg) Call Delay (0.5) Call LEFTHANDDOWN Call Delay (1.0) If ValueLeft > ValueRight THEN Call RSRIGHT Call Delay (0.2) End  If IF ValueLeftAvg < ValueRightAVG Then Call RSLEFT Call Delay(0.2) End  If Loop End  Sub '********************************************************************* Sub  RSLEFT() DO Debug.Print "Robosapien Turn Left" Call TurnLeft Call Delay(3.0) Call oops Call Delay (0.5) Call Reading LOOP END  SUB '********************************************************************* SUB  RSRIGHT() DO Debug.Print "Robosapien TurnRight" Call TurnRight Call Delay (3.0) Call oops Call Delay (1.0) Call Reading LOOP END  SUB '********************************************************************* Sub  RSfoward() Do Debug.Print"RS Walking Forward" Call Delay (0.3) Call ForwardStep Call Delay (4.0) ValueCentre= getADC(13) if valuecentre >150 Then Call SensorCentre End  If Loop End  Sub '********************************************************************* Sub  LEFTHANDUP() Debug.print"RS Raise LHand" CALL LARMUP Call Delay (0.5) Call LArmUp Call Delay (0.5) Call LArmUp Call Delay (0.5) End  Sub '********************************************************************* Sub  LEFTHANDDOWN() Debug.print"RS Lower LHand" CALL LARMDown Call Delay (0.5) Call LArmDown Call Delay (0.5) Call LArmDown Call Delay (0.5) End  Sub '********************************************************************* Sub  RIGHTHANDUP() Debug.print"RS Raise RHand" CALL RARMUP Call Delay (0.5) Call RArmUp Call Delay (0.5) Call RArmUp Call Delay (0.5) End  Sub '********************************************************************* Sub  RIGHTHANDDOWN() Debug.print"RS Lower RHand" CALL RARMDown Call Delay (0.5) Call RArmDown Call Delay (0.5) Call RArmDown Call Delay (0.5) End  Sub '********************************************************************* Sub  RSbackup() Do Debug.Print"RS Walking Backward" Call Delay (0.3) Call BackStep Call Delay (4.0) Call StopIt Call Delay (0.5) Call SensorCentre Loop End  Sub '********************* Sub  Stopit()'Stop It '10001110 Call Pulseout(Sapien,startbit,0) Call Pulseout(Sapien,HighBit,1) '7 bit Call Pulseout(Sapien,Clockbit,0) Call Pulseout(Sapien,LowBit,1) '6 bit Call Pulseout(Sapien,Clockbit,0) Call Pulseout(Sapien,LowBit,1) '5 bit Call Pulseout(Sapien,Clockbit,0) Call Pulseout(Sapien,LowBit,1) '4 bit Call Pulseout(Sapien,Clockbit,0) Call Pulseout(Sapien,HighBit,1) '3 bit Call Pulseout(Sapien,Clockbit,0) Call Pulseout(Sapien,HighBit,1) '2 bit Call Pulseout(Sapien,Clockbit,0) Call Pulseout(Sapien,HighBit,1) '1 bit Call Pulseout(Sapien,Clockbit,0) Call Pulseout(Sapien,LowBit,1) '0 bit Call Pulseout(Sapien,Clockbit,0) End  Sub '*********************'********************* Sub  TurnRight()'Turn Right '10000000 Call Pulseout(Sapien,startbit,0) Call Pulseout(Sapien,HighBit,1) Call Pulseout(Sapien,Clockbit,0) Call Pulseout(Sapien,LowBit,1) Call Pulseout(Sapien,Clockbit,0) Call Pulseout(Sapien,LowBit,1) Call Pulseout(Sapien,Clockbit,0) Call Pulseout(Sapien,LowBit,1) Call Pulseout(Sapien,Clockbit,0) Call Pulseout(Sapien,LowBit,1) Call Pulseout(Sapien,Clockbit,0) Call Pulseout(Sapien,LowBit,1) Call Pulseout(Sapien,Clockbit,0) Call Pulseout(Sapien,LowBit,1) Call Pulseout(Sapien,Clockbit,0) Call Pulseout(Sapien,LowBit,1) Call Pulseout(Sapien,Clockbit,0) End  Sub '********************* Sub  RArmUp()'Right Arm Up '10000001 Call Pulseout(Sapien,startbit,0) Call Pulseout(Sapien,HighBit,1) Call Pulseout(Sapien,Clockbit,0) Call Pulseout(Sapien,LowBit,1) Call Pulseout(Sapien,Clockbit,0) Call Pulseout(Sapien,LowBit,1) Call Pulseout(Sapien,Clockbit,0) Call Pulseout(Sapien,LowBit,1) Call Pulseout(Sapien,Clockbit,0) Call Pulseout(Sapien,LowBit,1) Call Pulseout(Sapien,Clockbit,0) Call Pulseout(Sapien,LowBit,1) Call Pulseout(Sapien,Clockbit,0) Call Pulseout(Sapien,LowBit,1) Call Pulseout(Sapien,Clockbit,0) Call Pulseout(Sapien,HighBit,1) Call Pulseout(Sapien,Clockbit,0) End  Sub '********************* Sub  RArmOut()'Right Arm Out '10000010 Call Pulseout(Sapien,startbit,0) Call Pulseout(Sapien,HighBit,1) '7 bit Call Pulseout(Sapien,Clockbit,0) Call Pulseout(Sapien,LowBit,1) '6 bit Call Pulseout(Sapien,Clockbit,0) Call Pulseout(Sapien,LowBit,1) '5 bit Call Pulseout(Sapien,Clockbit,0) Call Pulseout(Sapien,LowBit,1) '4 bit Call Pulseout(Sapien,Clockbit,0) Call Pulseout(Sapien,LowBit,1) '3 bit Call Pulseout(Sapien,Clockbit,0) Call Pulseout(Sapien,LowBit,1) '2 bit Call Pulseout(Sapien,Clockbit,0) Call Pulseout(Sapien,HighBit,1) '1 bit Call Pulseout(Sapien,Clockbit,0) Call Pulseout(Sapien,LowBit,1) '0 bit Call Pulseout(Sapien,Clockbit,0) End  Sub '********************* Sub  TltBodyR()'Tilt Body Right '10000011 Call Pulseout(Sapien,startbit,0) Call Pulseout(Sapien,HighBit,1) '7 bit Call Pulseout(Sapien,Clockbit,0) Call Pulseout(Sapien,LowBit,1) '6 bit Call Pulseout(Sapien,Clockbit,0) Call Pulseout(Sapien,LowBit,1) '5 bit Call Pulseout(Sapien,Clockbit,0) Call Pulseout(Sapien,LowBit,1) '4 bit Call Pulseout(Sapien,Clockbit,0) Call Pulseout(Sapien,LowBit,1) '3 bit Call Pulseout(Sapien,Clockbit,0) Call Pulseout(Sapien,LowBit,1) '2 bit Call Pulseout(Sapien,Clockbit,0) Call Pulseout(Sapien,HighBit,1) '1 bit Call Pulseout(Sapien,Clockbit,0) Call Pulseout(Sapien,HighBit,1) '0 bit Call Pulseout(Sapien,Clockbit,0) End  Sub '********************* Sub  RArmDown()'Right Arm Down '10000100 Call Pulseout(Sapien,startbit,0) Call Pulseout(Sapien,HighBit,1) '7 bit Call Pulseout(Sapien,Clockbit,0) Call Pulseout(Sapien,LowBit,1) '6 bit Call Pulseout(Sapien,Clockbit,0) Call Pulseout(Sapien,LowBit,1) '5 bit Call Pulseout(Sapien,Clockbit,0) Call Pulseout(Sapien,LowBit,1) '4 bit Call Pulseout(Sapien,Clockbit,0) Call Pulseout(Sapien,LowBit,1) '3 bit Call Pulseout(Sapien,Clockbit,0) Call Pulseout(Sapien,HighBit,1) '2 bit Call Pulseout(Sapien,Clockbit,0) Call Pulseout(Sapien,LowBit,1) '1 bit Call Pulseout(Sapien,Clockbit,0) Call Pulseout(Sapien,LowBit,1) '0 bit Call Pulseout(Sapien,Clockbit,0) End  Sub '********************* Sub  RArmIn()'Right Arm In '10000101 Call Pulseout(Sapien,startbit,0) Call Pulseout(Sapien,HighBit,1) '7 bit Call Pulseout(Sapien,Clockbit,0) Call Pulseout(Sapien,LowBit,1) '6 bit Call Pulseout(Sapien,Clockbit,0) Call Pulseout(Sapien,LowBit,1) '5 bit Call Pulseout(Sapien,Clockbit,0) Call Pulseout(Sapien,LowBit,1) '4 bit Call Pulseout(Sapien,Clockbit,0) Call Pulseout(Sapien,LowBit,1) '3 bit Call Pulseout(Sapien,Clockbit,0) Call Pulseout(Sapien,HighBit,1) '2 bit Call Pulseout(Sapien,Clockbit,0) Call Pulseout(Sapien,LowBit,1) '1 bit Call Pulseout(Sapien,Clockbit,0) Call Pulseout(Sapien,HighBit,1) '0 bit Call Pulseout(Sapien,Clockbit,0) End  Sub '********************* Sub  WalkForward()'Walk Forward '10000110 Call Pulseout(Sapien,startbit,0) Call Pulseout(Sapien,HighBit,1) '7 bit Call Pulseout(Sapien,Clockbit,0) Call Pulseout(Sapien,LowBit,1) '6 bit Call Pulseout(Sapien,Clockbit,0) Call Pulseout(Sapien,LowBit,1) '5 bit Call Pulseout(Sapien,Clockbit,0) Call Pulseout(Sapien,LowBit,1) '4 bit Call Pulseout(Sapien,Clockbit,0) Call Pulseout(Sapien,LowBit,1) '3 bit Call Pulseout(Sapien,Clockbit,0) Call Pulseout(Sapien,HighBit,1) '2 bit Call Pulseout(Sapien,Clockbit,0) Call Pulseout(Sapien,HighBit,1) '1 bit Call Pulseout(Sapien,Clockbit,0) Call Pulseout(Sapien,LowBit,1) '0 bit Call Pulseout(Sapien,Clockbit,0) End  Sub '********************* Sub  WalkBack()'Walk Backwards '10000110 Call Pulseout(Sapien,startbit,0) Call Pulseout(Sapien,HighBit,1) '7 bit Call Pulseout(Sapien,Clockbit,0) Call Pulseout(Sapien,LowBit,1) '6 bit Call Pulseout(Sapien,Clockbit,0) Call Pulseout(Sapien,LowBit,1) '5 bit Call Pulseout(Sapien,Clockbit,0) Call Pulseout(Sapien,LowBit,1) '4 bit Call Pulseout(Sapien,Clockbit,0) Call Pulseout(Sapien,LowBit,1) '3 bit Call Pulseout(Sapien,Clockbit,0) Call Pulseout(Sapien,HighBit,1) '2 bit Call Pulseout(Sapien,Clockbit,0) Call Pulseout(Sapien,HighBit,1) '1 bit Call Pulseout(Sapien,Clockbit,0) Call Pulseout(Sapien,HighBit,1) '0 bit Call Pulseout(Sapien,Clockbit,0) End  Sub '********************* Sub  TurnLeft()'Turn Left '10001000 Call Pulseout(Sapien,startbit,0) Call Pulseout(Sapien,HighBit,1) '7 bit Call Pulseout(Sapien,Clockbit,0) Call Pulseout(Sapien,LowBit,1) '6 bit Call Pulseout(Sapien,Clockbit,0) Call Pulseout(Sapien,LowBit,1) '5 bit Call Pulseout(Sapien,Clockbit,0) Call Pulseout(Sapien,LowBit,1) '4 bit Call Pulseout(Sapien,Clockbit,0) Call Pulseout(Sapien,HighBit,1) '3 bit Call Pulseout(Sapien,Clockbit,0) Call Pulseout(Sapien,LowBit,1) '2 bit Call Pulseout(Sapien,Clockbit,0) Call Pulseout(Sapien,LowBit,1) '1 bit Call Pulseout(Sapien,Clockbit,0) Call Pulseout(Sapien,LowBit,1) '0 bit Call Pulseout(Sapien,Clockbit,0) End  Sub '********************* Sub  LArmUp()'Left Arm Up '10001001 Call Pulseout(Sapien,startbit,0) Call Pulseout(Sapien,HighBit,1) '7 bit Call Pulseout(Sapien,Clockbit,0) Call Pulseout(Sapien,LowBit,1) '6 bit Call Pulseout(Sapien,Clockbit,0) Call Pulseout(Sapien,LowBit,1) '5 bit Call Pulseout(Sapien,Clockbit,0) Call Pulseout(Sapien,LowBit,1) '4 bit Call Pulseout(Sapien,Clockbit,0) Call Pulseout(Sapien,HighBit,1) '3 bit Call Pulseout(Sapien,Clockbit,0) Call Pulseout(Sapien,LowBit,1) '2 bit Call Pulseout(Sapien,Clockbit,0) Call Pulseout(Sapien,LowBit,1) '1 bit Call Pulseout(Sapien,Clockbit,0) Call Pulseout(Sapien,HighBit,1) '0 bit Call Pulseout(Sapien,Clockbit,0) End  Sub