Boe Bot Navigates Through a Maze

This instructable will help you create bumpers for the boe bot and it will provide you with the code that will navigate the boe bot through the maze.

Here is a list of materials you will need to make the bumpers:

-Cardboard

-Tape

-Wires

-Aluminium foil

-Resistors

-Velcro

What you will want to do first is using the cardboard make flaps and glue pieces of cardboard together to make a stack. Now, tape pieces of aluminium on the the flaps made from cardboard. There will be four pieces of aluminium foil that will be taped inside the flaps on each side. Now attach the flaps to the cardboard stack using glue. Next, attach the flat backside of the cardboard stack to the front of the boe bot using Velcro. Finally, attach the positive and negative wires to the aluminium foil on the flaps. Congratulations, you have now finished making the bumpers.

The circuit is very simple and easy to make. Take a look at the picture and create the circuit on your Boe bot.

Here is the code for the boe bot.

' {$STAMP BS2}

' {$PBASIC 2.5}
 'I/O Pins

 'Mankaran Kaler
 'Mr.Birch
 'Maze robot program
 'Program to navigate the boebot through any maze

'----------varibles---------
 LMotor PIN 14
RMotor PIN 15

loopX VAR Word

LFF CON 850
RFF CON 650
Lstop CON 750
Rstop CON 750
LRF   CON 650
RRF   CON 850

temp VAR Byte                       'temporary store
RunStatus DATA $00             'variable stored in ROM

'READ RunStatus, temp         'Read the variable from ROM
'temp = ~temp                        'invert the value 0 to 1 or 1 to 0
'WRITE RunStatus, temp       'Write the variable back to ROM
'IF (temp>0) THEN END          'Check if the value is 1
                              ' if so END the program

right VAR Word
fast VAR Word
'----------actions---------------
DO
  GOSUB ForwardFast
  DEBUG ? IN10
    IF IN10=0 THEN
      HIGH 0
      GOSUB LeftTurn
    ELSE
      LOW 0
  ENDIF

  DEBUG ? IN11
  IF IN11=0 THEN
    HIGH 1
    GOSUB RightTurn
  ELSE
    LOW 1
  ENDIF
  DEBUG CLS

LOOP
'-------------directions------------

LeftTurn:
FOR right = 1 TO 120
  PULSOUT LMotor, LRF
  PULSOUT RMotor, RFF
NEXT
RETURN

RightTurn:
FOR loopX = 1 TO 120
  PULSOUT LMotor, LFF
  PULSOUT RMotor, RRF
NEXT
RETURN

ForwardFast:
FOR fast = 1 TO 300
  PULSOUT LMotor, LFF
  PULSOUT RMotor, RFF
NEXT
RETURN