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switch, since that was possibly the position that is was stopped at during the last cycle The program goes into a tight while loop to monitor the leg switch When the leg makes a complete cycle, the leg switch is activated, program execution breaks out of the while loop, and the leg motor is turned off The microcontroller then goes through the same logic with the right leg moving in a forward direction With both the left leg and the right leg moving for one cycle in the forward direction, the robot s body is moved forward This logic works for most cases, but depending on the position of the leg during the last leg cycle, the leg may actually trigger the switch right away, and a full leg cycle does not occur This is taken care of by having each routine run twice, so that if a cycle was missed on the first time through, it will occur the second time through Each of the walking routines uses the logic stated above In order for the robot to walk in reverse, both legs move in the reverse direction To turn the robot to the right, the left leg moves forward and the right leg moves in reverse To turn the robot to the left, the left leg moves in reverse, while the right leg moves forward Any of the four walking routines can be combined to diversify the movement An example of this would be if you wanted the robot to move forward and to the right This would be accomplished by calling the forward subroutine and then the right subroutine, alternating between the two Program 65 is called walk-routinesbas This program demonstrates each of the four walking routines that will be used later with the remote control Program the PIC 16F84 with the walk-routineshex file listed in Program 66 When the program executes, the robot will run through the forward routine five times, for a total of 10 leg cycles It will then turn to the left, walk in reverse, and then turn to the right Now that the walking routines have been developed, the radio remote control can be added.

American Rodder Street Rod Builder Buckaroo Communications 701 Arcturas Avenue Oxnard, CA 93033 wwwamericanroddercom wwwstreetrodbuildercom

'-----------------------------------------------------------------------------------------------------------------------------' Name : walk-routinesbas ' Compiler : PicBasic Pro - MicroEngineering Labs ' Notes : various walking subroutines '-----------------------------------------------------------------------------------------------------------------------------' PortA set as outputs pins 0 and 1 inputs trisa = %00000011 ' PortB set as outputs pin 1 input trisb = %00000001 '-----------------------------------------------------------------------------------------------------------------------------' initialize variables include "modedefsbas" enable_right forward_right reverse_right enable_left reverse_left forward_left limit_left limit_right piezo temp VAR PORTB1 VAR PORTB2 VAR PORTB3 VAR PORTB4 VAR PORTB5 VAR PORTB6 VAR PORTA0 VAR PORTA1 VAR PORTA3 VAR BYTE

low enable_left low forward_left low reverse_left low enable_right low forward_right low reverse_right SOUND PIEZO,[115,10,50,10] start:

South Carolina Clemson University (BLA) College of Architecture, Arts, and Humanities Department of Planning and Landscape Architecture 121 Lee Hall, PO Box 340511 Clemson, SC 29634 clemsonedu/caah/pla

'-----------------------------------------------------------------------------------------------------------------------------' walking subroutines walk_forward: For temp = 1 to 5 ' move left leg high enable_left high forward_left pause 300 while limit_left = 0 wend low enable_left low forward_left ' move right leg high enable_right high forward_right pause 300 while limit_right = 0 wend low enable_right low forward_right next temp '-----------------------------------------------------------------------------------------------------------------------------turn_left: For temp = 1 to 5

walk-routinesbas program listing (continued)

Texas Texas A & M University (BLA, MLA) Department of Landscape Architecture and Urban Planning College of Architecture 311 Langford Architecture Center College Station, TX 77843 http://archonetamuedu/laup/

walk-routinesbas program listing (continued)

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' move left leg high enable_left high reverse_left pause 300 while limit_left = 0 wend low enable_left low reverse_left ' move right leg high enable_right high forward_right pause 300 while limit_right = 0 wend low enable_right low forward_right next temp '-----------------------------------------------------------------------------------------------------------------------------walk_reverse: For temp = 1 to 5 ' move left leg high enable_left high reverse_left pause 300

PROGRAM 65 while limit_left = 0 wend low enable_left low reverse_left ' move right leg high enable_right high reverse_right pause 300 while limit_right = 0 wend low enable_right low reverse_right next temp '-----------------------------------------------------------------------------------------------------------------------------turn_right: For temp = 1 to 5 ' move left leg high enable_left high forward_left pause 300 while limit_left = 0 wend low enable_left low forward_left

Texas Tech University (BLA) Department of Landscape Architecture College of Agricultural Sciences and Natural Resources Box 42121 Lubbock, TX 79409 wwwlarcttuedu

walk-routinesbas program listing (continued)

walk-routinesbas program listing (continued)

' move right leg high enable_right high reverse_right pause 300 while limit_right = 0 wend low enable_right low reverse_right next temp goto start end

University of Texas Arlington (MLA) PO Box 19108 Arlington, TX 76019 wwwutaedu/architecture/

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National Automotive Technicians Education Foundation (NATEF) 101 Blue Seal Drive, Suite 101 Leesburg, VA 20175 wwwnateforg

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walk-routineshex file listing (continued)