Here is the temporary home for the Autonomous BRAT information while we work on the full tutorial. EDIT: I'm no longer updating this forum thread with updates. We are adding content directly to the tutorial.
Here is the code I'm using to make the BRAT autonomous. It uses a GP2D12 attached pointing forward. There is also a timer going to tell the guy to take a rest every so often. It whistles a little tune when resting. The speaker is used to provide audible feedback between steps indicating if the GP2D12 has detected something. The higher the pitch, the closer an obstacle is. If an obstacle is detected the robot will take one step back and turn two steps to the left, then start walking forward again. The LEDs on the Bot Board II also light indication what behavior the bot is doing. This code is very easy to edit. There are no timing issues as HSERVO and some extra programming by Nathan at Basic Micro runs an SSC-32 emulation in the background. So any sensor can be added in the main control loop. There are 11 sequences already in the program (from the SEQ tutorial) Other sensors we will be adding are an accelerometer so the robot will be able to get up from laying on it's front, or back automatically.
This is the link to the IDE you need. Pro 22.214.171.124
File for finding servo offsets and displaying them in the terminal window.
BRAT autonomous program, can be edited easily for different sensors and behaviors.
Here is a video of the BRAT avoiding an obstacle.
Taking a break...
Walking into the sunset.
Check it out!
Jim Frye, the Robot Guyhttp://www.lynxmotion.com
I've always tried to do my best...