ComputerCraft real life turtle

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S

Shizz0

New Member
Jul 29, 2019
10
0
0
Hello everyone,

i just finished my trutle :)

Here it is...

Extras
https://www.dropbox.com/s/fa87ys9bzvtz6u8/computercraft_turtle_controlboard.jpg
https://www.dropbox.com/s/4acxrndepzf0k04/JD600037.JPG
PCB(target3001 file): https://www.dropbox.com/s/vdhwmbc7y8wanri/Hauptplatine_masse.T3001
code:
Code: 
'Computer Craft Turtle
'Version: rl_2.0
'by Shizz0
 
$regfile = "m48pdef.dat"
$crystal = 16000000
$hwstack = 128
$swstack = 64
$framesize = 128
 
' vars
 
Dim Text As String * 1
Dim Letter_count As Byte
Dim Attack_counter As Byte , Servo_counter As Byte
Dim Dance_enable As Bit , Attack_enable As Bit
Dim Gps(3) As Byte
Dim Sensor As Word , Sensor_m2 As Bit
 
Dim ___rseed As Word , Random As Word
 
' I/O
 
Config Pind.0 = Output                                      'Servo
 
Config Pinc.5 = Input                                      'Sensor
 
Config Pind.1 = Input
Button1 Alias Pind.1
Portd.1 = 1
 
Config Pind.2 = Input
Anykey Alias Pind.2
Portd.2 = 1
 
Config Portb.3 = Output                                    'OC2A M1
Config Portd.3 = Output                                    'OC2B M1
Config Portb.1 = Output                                    'OC1A M2
Config Portb.2 = Output                                    'OC1B M2
 
' const
 
Const Slowtext = 1                                          'sec
Const Typingspeed = 200                                    'ms
Const Fasttext = 30                                        'ms
Const Block = 1945                                          'ms/block@255
Const Block_turn = 754                                      'ms/90° turn@255
 
' lcd
 
Config Lcdpin = Pin , Db7 = Portc.4 , Db6 = Portc.3 , Db5 = Portc.2 , _
Db4 = Portc.1 , Rs = Portb.5 , E = Portc.0
 
Config Lcd = 16 * 2
 
' adc
 
Config Adc = Single , Prescaler = Auto , Reference = Avcc
 
' servo
 
Config Servos = 1 , Servo1 = Portd.0 , Reload = 10
 
' timer
 
Config Timer1 = Pwm , Pwm = 8 , Compare A Pwm = Clear Down , _
Compare B Pwm = Clear Down , Prescale = 64
Enable Timer1
 
Config Timer2 = Pwm , Pwm = On , Compare A Pwm = Clear Down , _
Compare B Pwm = Clear Down , Prescale = 64
Enable Timer2
 
' ints
 
Config Int0 = Falling
Enable Int0
On Int0 On_int0
 
Enable Interrupts
 
' startup
 
Declare Sub Motor(byval Direction As Byte , Byval Speed As Byte)
Call Motor(5 , 0)
Wait 1
Call Motor(5 , 0)
Initlcd
Gosub Startingscreen
 
Wait 5
Call Motor(7 , 75)
Waitms 4800
Call Motor(7 , 0)
 
' main
 
Do
 
  Debounce Button1 , 0 , Dance , Sub
 
  If Attack_enable = 1 Then
      Gosub Attack
  End If
 
Loop
End
 
' subs
' ###########################################################################
'Test1:
'Wait 3
'Call Motor(2 , 255)
'Return
Fucking_random_dance:
 
Set Dance_enable
Gps(1) = 3
Gps(2) = 3
Gps(3) = 0
 
While Dance_enable = 1
  ___rseed = Tcnt0
  Random = Rnd(5)
 
  Select Case Random
 
      Case 0:
        Select Case Gps(3)
 
            Case 0:
              If Gps(2) > 1 Then
                  Decr Gps(2)
                  Call Motor(0 , 255)
              End If
            Case 1:
              If Gps(1) < 5 Then
                  Incr Gps(1)
                  Call Motor(0 , 255)
              End If
            Case 2:
              If Gps(2) < 5 Then
                  Incr Gps(2)
                  Call Motor(0 , 255)
              End If
            Case 3:
              If Gps(1) > 1 Then
                  Decr Gps(1)
                  Call Motor(0 , 255)
              End If
 
        End Select
 
      Case 1:
        Select Case Gps(3)
 
            Case 0:
              If Gps(2) < 5 Then
                  Incr Gps(2)
                  Call Motor(1 , 255)
              End If
            Case 1:
              If Gps(1) > 1 Then
                  Decr Gps(1)
                  Call Motor(1 , 255)
              End If
            Case 2:
              If Gps(2) > 1 Then
                  Decr Gps(2)
                  Call Motor(1 , 255)
              End If
            Case 3:
              If Gps(1) < 5 Then
                  Incr Gps(1)
                  Call Motor(1 , 255)
              End If
 
        End Select
 
      Case 2:
        If Gps(3) = 3 Then
            Gps(3) = 255
        End If
        Incr Gps(3)
        Call Motor(2 , 255)
 
      Case 3:
        If Gps(3) = 0 Then
            Gps(3) = 4
        End If
        Decr Gps(3)
        Call Motor(3 , 255)
 
      Case 4:
        Call Motor(5 , 0)
 
  End Select
 
Waitms 200
 
Wend
 
Return
' ###########################################################################
Sub Motor(byval Direction As Byte , Byval Speed As Byte)
 
  Select Case Direction
 
      Case 0:                                              '1 block fwd
        Pwm1a = Speed
        Pwm2a = Speed
        Waitms Block
        Pwm1a = 0
        Pwm2a = 0
      Case 1:                                              '1 block bwd
        Pwm1b = Speed
        Pwm2b = Speed
        Waitms Block
        Pwm1b = 0
        Pwm2b = 0
      Case 2:                                              '90° right
        Pwm1b = Speed
        Pwm2a = Speed
        Waitms Block_turn
        Pwm1b = 0
        Pwm2a = 0
      Case 3:                                              '90° left
        Pwm1a = Speed
        Pwm2b = Speed
        Waitms Block_turn
        Pwm1a = 0
        Pwm2b = 0
      Case 4:                                              'fwd
        Pwm1a = Speed
        Pwm2a = Speed
      Case 5:                                              'Servo
        For Servo_counter = 70 To 100
            Servo(1) = Servo_counter
            Waitms 3
        Next
        Waitms 100
        For Servo_counter = 100 To 70 Step -1
            Servo(1) = Servo_counter
            Waitms 3
        Next
        Waitms 100
      Case 6:                                              'turn left
        Pwm1a = Speed
        Pwm2b = Speed
      Case 7:                                              'turn right
        Pwm1b = Speed
        Pwm2a = Speed
  End Select
 
End Sub
' ###########################################################################
On_int0:
'NEVER run ADC, SERVO or PWM routines while the "return-adress" of an interrupt
'is on the HWstack !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
  Reset Dance_enable
  Reset Attack_enable
  Reset Sensor_m2
  Gosub Startingscreen
  Waitms 500
 
  If Anykey = 0 Then
      Set Attack_enable
  End If
 
Return
' ###########################################################################
Attack:
 
Waitms 500
Start Adc
 
  For Letter_count = 0 To 5
      Text = Lookupstr(letter_count , Attack_text)
      Lcd Text
      Waitms Typingspeed
  Next
 
Wait 2
Call Motor(6 , 70)
Sensor_m2 = 1
 
  While Attack_enable = 1
      Sensor = Getadc(5)
 
      If Sensor >= 150 And Sensor_m2 = 1 Then
        Sensor_m2 = 0
        Call Motor(6 , 0)
        Wait 1
        Call Motor(4 , 70)
      Elseif Sensor >= 550 Then
        Attack_enable = 0
        Stop Adc
        Call Motor(4 , 0)
        Waitms 500
        Call Motor(5 , 0)
        Locate 2 , 9 : Lcd "-done"
        Wait 5
        Gosub Startingscreen
      End If
 
      Waitms 5
 
  Wend
 
Return
' ###########################################################################
Startingscreen:
 
Cursor Off Noblink
Cls
Lcd "TurtleOS 9000.1"
Locate 2 , 1
Lcd "> "
Cursor On Blink
 
Return
' ###########################################################################
Dance:
 
Waitms 500
If Button1 = 0 Then
 
  Wait 5
  Cls
  For Attack_counter = 1 To 10
      If Attack_counter <= 6 Then
        If Attack_counter = 4 Then
            Locate 2 , 1
        End If
        Lcd "KILL "
      End If
      Call Motor(5 , 0)
  Next
  Wait 2
  Gosub Startingscreen
 
Else
 
  Disable Int0
 
  For Letter_count = 0 To 27
 
        If Letter_count = 5 Then
            Wait 2
            Cls
            Cursor Off Noblink
            Locate 1 , 1
        Elseif Letter_count = 21 Then
            Locate 2 , 1
        End If
 
      Text = Lookupstr(letter_count , Dance_text)
      Lcd Text
 
        If Letter_count <= 4 Then
            Waitms Typingspeed
        Elseif Letter_count > 4 And Letter_count < 24 Then
            Waitms Fasttext
        Else
            Wait Slowtext
        End If
 
  Next
 
  Wait 2
  Cls
  Locate 1 , 1
  Lcd "Press any key to"
  Locate 2 , 1
  Lcd "stop the groove"
  Wait 1
 
  Enable Int0
 
  Gosub Fucking_random_dance
 
End If
 
Return
' ###########################################################################
'----------------
'----- data -----
'----------------
 
Dance_text:
Data "d" , "a" , "n" , "c" , "e"
Data "P" , "r" , "e" , "p" , "a" , "r" , "i" , "n" , "g" , " "
Data "t" , "o" , " "
Data "g" , "e" , "t"
Data "d" , "o" , "w" , "n" , "." , "." , "."
 
Attack_text:
Data "a" , "t" , "t" , "a" , "c" , "k"

PS: Oh yeah, i hate to fold paper now...

I hope you like it :D
 
  • Like
Reactions: PhilHibbs, awindsor, netmc and 6 others
How long did it take you to make this?

Serious engineering right there.

Now go tweet this to dan200
 
You are REALLY into turtles. :p

Cool job. The turtle and sword look very well done. I can't say enough good things about your efforts.

Does your cat scare aware the creepers for you?
 
This reminds me of my idea for an Applied Energistics Cake.

Ice for certus quartz and frozen milk for nether quartz :P
 
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