PLM PCS Robotics Binder

8/14/2019 PLM PCS Robotics Binder

1/11

Armadillo

Chassis Measurements:Width: 4.4 Inches or 11.18 Centimeters

Length: (Without Sensors) 5.95 Inches or 15.11 Centimeters(With Sensors) 7.80 Inches or 19.81 Centimeters

Height: 3 Inches or 7.62 CentimetersWeight: 466.5 Grams

Drive Measurements:Width: 5.2 Inches or 13.21 Centimeters

Center of tire to center of tire on opposite sideLength: 1.865 Inches or 4.74 Centimeters

Center of tire to center of tire on same sideTire Diameter: 1.7 Inches or 4.32 Centimeters

LEGO 13x24 Hard Rubber TireGear Ratio: 27:1

Remarks:The Armadillowas developed in two stages. Headmaster Patrick McShane provided th

Train and student Gary Gunter applied the Cosmetic Design. The Armadillo is a fast foudrive vehicle that has two Optosensors mounted, one front and one rear, pointing towaground. Specially designed mounting brackets were required to achieve this applicationand sensor data from the vehicle is provided via a 4-cable bundle that connects to Portfor Motor Control and Ports 7 & 8 for Optosensor input, on the LEGO-TC-logo Interface(Invented here at PCS by James Clough). The computer control was through the Atari 1The motors are standard LEGO 4.5v motors and steering in the PCS Left-Side/Right-Sidcontrolled by the Optosensors. By pressing the ESC Key control is passed from the Optoto the Human Factor using a standard Joystick to control the full-function movement of

Armadillo.ARobosphere1 has been designed for the Armadillowhich allows staff and students

opportunity to experiment with Artificial Life principles. Two such examples have been cone, wherein the vehicle becomes trapped inside black lines and another, wherein the vfollows black lines of varying widths and configurations. Other Alife experiments remaindevelopment. Development of the Armadillobegan in 1990.

Patrick

McSha

ne

Digitally signed by

Patrick McShaneDN: cn=Patrick McShane,

o=PCS Centers for

Enhanced Learning,

ou=Headmaster,

email=mcshane.patrick9

@gmail.com, c=US

Date: 2009.03.22

13:46:22 -06'00'


2/11

CAMLU III

Chassis Measurements:Width: 3.14 Inches or 8 Centimeters

Length: 5.97 Inches or 15.16 Centimeters

Height: 2.59 Inches or 6.56 CentimetersWeight: 384.5 Grams

Drive Measurements:Width: 4.3 Inches or 10.92 Centimeters

Center of tire to center of tire on opposite sideLength: 3.1 Inches or 7.87 Centimeters

Center of tire to center of tire on same sideTire Diameter: 2.0 Inches or 5.08 Centimeters

LEGO 20x30 Soft Rubber TiresTurningRadius: 5.3 Inches or 13.46 CentimetersGear Ratio: 72:1

Remarks:CAMLU IIIis a true 4WD System using the Left-Side/Right-Side Drive Method of locom

with both front and rear axles being driven simultaneously. Power to the Drive Train is

by two 4.5v LEGO standard electric motors. Electrical Power to and Sensor data from this provided via a 4-cable bundle that connects to Ports A & B for Motor Control and Porfor Optosensor input, on the LEGO-TC-logo Interface Box (Invented at PCS by James CThere are two Opto Sensors mounted on the Worm Gear axles at a gear ratio of 3:1 fromotors. The Worm Gears, in turn, drive final 24-toothed Spur Gears. Data is fed into th130XE computer as the Optosensors read information provided by the turning of two 4-Segmented Black-and-White Counting Disks as they turn past the eyes of the OptosenCounting Disks are mounted on the same axles as the Worm Gears, front.A Testing Station was built to make programming easier in that one doesnt have to r

an errant robot because of poor code writing. Both vehicle and testing station were descreated by Founder and Superintendent of PCS Center for Enhanced Learning, Nampa, Campus, 12/1991.

Control ofCAMLU IIIwas provided by the Human factor using a heavy duty Joystick.Optosensor feedback allowed the operator to view, in real-time, the actual speed of theexpressed in any measurement that the programmer wished to observe. The 72:1 gearwhile somewhat slower than theArmadillo, provided an inordinate amount of power, altraversal of slopes up to approximately 60%. The ability to munch other vehicles durinoperation seemed to offset the need for speed and everyone seemed to be satisfied.

PatrickDigitally signed by PatrickMcShaneDN: cn Patrick McShane


3/11

Tramiel era: XE series and XE Game System

Atari Jack Tramiel'sAtari Corporation produced the final machines in the 8-bit series, were the 65XE and 130XE (XEstood for XL-Expanded). They were announced in 198same time as the initial models in theAtari STseries, and resembled the Atari ST. Originintended to be called the 900XLF, the 65XE was functionally equivalent to the 800XL mPBI connection. The 65XE (European version) and the 130XE had the Enhanced CartridInterface (ECI), a semi-compatible variant of the Parallel Bus Interface (PBI). The 130Xwith 128 KB of memory, accessible through bank-selection.Close-up view of 130XE front panel/keyboard. This machine is the same as a 65XE but extra 64k (128k total) memory. The last 8-bit Atari made, the extra memory was not su

by most applications.

Patrick

Digitally signed by Patrick

McShane


4/11

Action!

Action! was a programming language and integrated editor, debugger, and 6502generating compiler, editor for the Atari 8-bit family of microcomputers. Action

created by Clinton Parker and released on cartridge by Optimized Systems Softw

1983. Its syntax was similar to that ofALGOL 68.

Action! was significant for its high performance, which allowed games and grap

demos to be written in a high-level language in an era when it was generally und

that performance required hand-written assembly languagecode. The language w

tailored so there was a clean mapping between language constructs and the 6502

hardware.

A library was available as a separate product called the Action! Toolkit. Action

used to develop at least two commercial product: the Homepakproductivity suit

and Games Computers Play client program. The language was never ported to o

systems.

In 2007 it inspired Effectus - a cross-compiler currently running on Windows tar

the Atari 8-bit. Effectus resembles Action! syntax and is intended to be as comp

possible with it.

Contents[hide]

1 Data Types

1.1 BYTE

1.2 CARDin

al

1.3 INTeger 2 Keywords

3 Programming

4 Example code

5 See also

6 External links


5/11

The CHAR keyword can also be used to declare BYTE variables.BYTE age=[21] ; declare age and initialize it to the value BYTE leftMargin=82 ; declare leftMargin and store it at address

CARDinalInternally represented as an unsigned 16-bit integer. Values range from 0 to 65,5CARD population=$600 ; declare population and store address 1536 and 1537CARD prevYear, curYear, nextYear ; use commas to declare multipvariables

INTegerInternally represented as a signed 16-bit integer. Values range from -32,768 to 3INT veryCold = [-10]INT profitsQ1, profitsQ2, ; declaring multiple variables can

profitsQ3, profitsQ4 ; span across multiple lines

ACTION! also has ARRAYs, POINTERs and user defined TYPEs. No floating

point support was available.

An example of a user-defined TYPE:TYPE CORD=[CARD x,y]CORD pointpoint.x=42point.y=23

KeywordsA "keyword" is any word or symbol that the ACTION! compiler recognizes as s

special. It can be an operator, a data type name, a statement, or a compiler direct AND FI OR UNTIL = ( ARRAY FOR POINTER WHILE < )BYTE FUNC PROC XOR # .CARD IF RETURN + [CHAR INCLUDE RSH - = ]DEFINE INT SET * < "DO LSH STEP /


6/11

Example codeThe following is example code for Sieve of Eratosthenes written in Action. In or

increase performance, it disables theANTIC graphics coprocessor on the Atari h

thus preventing its DMA engine from "stealing" CPU cycles during the computaBYTE RTCLOK=20, ; addr of sys timer

SDMCTL=559 ; DMA control

BYTE ARRAY FLAGS(8190)

CARD COUNT,I,K,PRIME,TIME

PROC SIEVE()

SDMCTL=0 ; shut off AnticRTCLOK=0 ; only one timer needed

COUNT=0 ; init countFOR I=0 TO 8190 ; and flags

DOFLAGS(I)='T ; "'T" is a compiler-provided constant for TrueOD

FOR I=0 TO 8190 ; and flagsDOIF FLAGS(I)='T THENPRIME=I+I+3K=I+PRIMEWHILE K


7/11

Categories: Procedural programming languages | Algol programming language

family | Optimized Systems Software

Patrick

McShane

Digitally signed by

Patrick McShane

DN: cn=Patrick McShane,

o=PCS Centers for

Enhanced Learning,ou=Headmaster,

email=mcshane.patrick9

@gmail.com, c=US

Date: 2009.03.22

13:47:14 -06'00'


8/11

Atari 130XE Memory Locations

I discovered that by PEEKing and POKEing into these MemLocs I could READ and WRJoystick Ports. If we connected Sensors to provide INPUT we could cause specific OUTactions to take place, like running two motors at the same time in the same, or differenrotational attitudes. These locations are:

Decimal ADDR632 Joystick 0633 Joystick 1


9/11

programming language) we were able to achieve a high degree of control over our robcreations. I am very sorry that no one saw the value in this wonderful little computer aprogramming powers. I started using Basic, then Basic XE, Logo, Action, C, and a few roblique languages. When all had been tested, I still came back to Action as the controlllanguage. For the students, they seemed to prefer the modular aspects of Logo. It wasfor them to get their minds around the modular concepts. I have since seen this modulapplied to the new PCS Edventures Brain as it starts with a Modular Format, followed band then their own brand of Compiled Language. They have also added the CAD concecreating Lego elements.

PatrickMcShan

e

Digitally signed by PatrickMcShane


o=PCS Centers for

Enhanced Learning,

ou=Headmaster,

email=mcshane.patrick9@

gmail.com, c=US

Date: 2009.03.22 13:47:29

-06'00'


10/11

Patrick

McShane

Digitally signed byPatrick McShaneDN: cn=Patrick McShane,o=PCS Centers forEnhanced Learning,ou=Headmaster,

[email protected], c=USDate: 2009.03.22 13:48:04-06'00'


11/11

Patrick

McSha

ne

Digitally signed by PatrickMcShane


o=PCS Centers for

Enhanced Learning,ou=Headmaster,

email=mcshane.patrick9@

gmail.com, c=US

Date: 2009.03.22 13:48:32-06'00'

Documents

PLM PCS Robotics Binder