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To do so, it sends pulses to both servos. It sends the same pulse width to the stride motor so it remains stationary and the feet do not move forward or backwards. The tilt servo is sent pulses that progressively change in width causing the tilt servo to rotate which in turn causes the Toddler to lean. The M2 routine does the same thing but in this case the tilt servo is held stationary while the stride servo is driven by a set of different width pulses causing one leg to move ahead of the other.

5 ms pulse on P13 Page 32 · Advanced Robotics with the Toddler Many Ways to Move the Toddler Programming is a cross between an art and science. There are usually many different ways a program can be written to get the same effect. Some are more efficient in program size and others are more efficient in performance. In this chapter, we look at a number of different actions the Toddler can perform including walking forward and backward. The Toddler robot can make 36 different movements. These different movements must be linked together in order to walk.

Vin is unregulated 6 V (from four AA batteries), and it is connected to the positive terminal of the battery pack. Vdd is regulated to 5 V by the Toddler’s onboard voltage regulator, and it will be used with Vss to supply power to circuits built on the Toddler’s breadboard (Table 2-2). Table 2-2: Voltages and Toddler PCB Labels Vss = 0 V (ground) Vdd = 5V (regulated) Vin = 6 V (unregulated) Chapter #2: Taking Your First Steps · Page 31 The control signal the BASIC Stamp sends to the servo’s control line is called a “pulse train,” and an example of one is shown in Figure 2-1.

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