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'-----------------------------------------------------------------------------------------------------------------------------' Name : Limit-switchbas ' Compiler : PicBasic Pro MicroEngineering Labs ' Notes : Program to monitor the status of the leg ' : position limit switches and turn on the ' : corresponding LED when triggered '-----------------------------------------------------------------------------------------------------------------------------' set porta to inputs trisa = %11111111 ' set portb pins 2 & 3 to inputs trisb = %00001100 '-----------------------------------------------------------------------------------------------------------------------------' initialize variables servo_pos_l servo_pos_r timer1 timer2 timer3 temp1 servo_r servo_l switch_r switch_l led_l led_r piezo low servo_l low servo_r '-----------------------------------------------------------------------------------------------------------------------------start: VAR BYTE VAR BYTE VAR BYTE VAR BYTE VAR BYTE VAR BYTE VAR PORTB5 VAR PORTB6 VAR PORTA4 VAR PORTA3 VAR PORTB1 VAR PORTB0 VAR PORTB4

for temp1 = 1 to 5 SOUND piezo, [80,4,100,2] low led_l low led_r pause 50 high led_l high led_r next temp1 SOUND piezo, [100,4,120,2,80,2,90,2] low led_l low led_r right: if switch_r = 1 then high led_r else low led_r endif left: if switch_l = 1 then high led_l else low led_l endif goto right end

University of Notre Dame (BArch, MArch) School of Architecture 110 Bond Hall Notre Dame, IN 46556 http://architecturendedu/

limit-switchbas program listing (continued)

:1000000061288F00220884002009282084138F088B :1000100003195C28F03091000E0880389000F03011 :1000200091030319910003198F0303195C28182801 :100030002B2003010C1820088E1F20088E0803199E :100040000301900F252880060C28262800000F2881

In newspapers, you will likely begin by asking a local newspaper editor for a low-paid assignment or one that could be written for free to gain experience Be persistent Your completed assignment will earn a speedy yes, no, or yes-with-rewrite response from your editor Save a copy of everything you write that is published no matter how inconsequential you may think it With these samples, or clips, you can show what you have done If you have journalism

limit-switchhex program listing (continued)

Iowa Iowa State University (BArch, MArch) Department of Architecture 156 College of Design Ames, IA 50011 wwdesigniastateedu/ARCH/

:10005000841780055C280D080C0403198C0A803075 :100060000C1A8D060C198D068C188D060D0D8C0D35 :100070008D0D5C288F018E00FF308E07031C8F07CB :10008000031C5C2803308D00DF3048203C288D01A4 :10009000E83E8C008D09FC30031C51288C070318A6 :1000A0004E288C0764008D0F4E280C1857288C1C86 :1000B0005B2800005B28080083130313831264008D :1000C00008008316FF3085000C308600831206136B :1000D000831606138312861283168612831201304A :1000E000A600640006302602031896280630A200F7 :1000F0001030A00050308E000430012064308E009B :100100000230012086108316861083120610831693 :100110000610323083123A2086148316861083121A :100120000614831606108312A60F71280630A2004B :100130001030A00064308E000430012078308E0032 :100140000230012050308E00023001205A308E00E3 :100150000230012086108316861083120610831643 :10016000061083126400051EBA28061483160610B2 :100170008312BE2806108316061083126400851DA4 :10018000C6288614831686108312CA288610831602 :0A01900086108312B2286300CB280A :02400E00F53F7C :00000001FF

Now that everything is running correctly, it is time to put all of the individual pieces of software together into one program that will allow the frog robot to jump in a coordinated manner The program will start by monitoring the limit switches that determine when the legs spring-loading mechanisms are set in the proper position If the limit switches are not triggered, then the program will command the servos to rotate forward until both legs are set When both legs are in position, the servos are paused for a moment and then both are commanded to rotate forward at the same time The spring mechanisms then let go, and the energy stored in the springs forces each leg down quickly, causing the frog s body to leap forward off the ground Because it is impossible to get the two legs perfectly coordinated when the mechanism

Kansas Kansas State University (BArch) Department of Architecture College of Architecture, Planning, and Design Manhattan, KS 66506 http://capdksuedu/

A hammer (R), shown in Figure 113, will be needed for bending aluminum, along with a metal file (S) to smooth the edges of metal pieces after they have been cut or drilled You may use a tube of

quick-setting epoxy (T) to secure parts Safety glasses (U) should be worn at all times when cutting and drilling metal or soldering

I got started in racing by butting in, recalls Jim Bartik of Allentown, Pennsylvania Being a racing mechanic is not his day job It costs far more than the prize money his racing team earns But he loves it I went to Lehigh County Vo-Tech [high school], so I m comfortable around machinery and working with tools I started hanging around the pits at Dorney Park [an Allentown amusement park] when they still had racing I talked to the pit crew guys and eventually they started giving me the hey-kid-hand-me-this and tighten-that-bolt jobs to do I didn t know much to start with I learned as I went along but I got to know a lot of people in local racing, and one thing led to another

To calibrate and troubleshoot the electronics, you will need a digital multimeter with frequency counting capabilities, similar to the Fluke 87 multimeter (Figure 114, left) When working with electronic circuits, a good multimeter is invaluable The second multimeter in Figure 114 (right) is manufactured by Circuit Test and measures capacitance, resistance, and inductance It is nice to be able to measure the exact values of components when working on precise circuits, but in most cases, this is not necessary If you are winding your own transformers or chokes, the ability to measure inductance will be helpful The specific use of the multimeter will be explained during the construction of the robot s electronics in later chapters

University of Kansas (BArch, MArch) School of Architecture and Urban Design Lawrence, KS 66045 saudkuedu/