' {$STAMP BS2} ' {$PBASIC 2.5} ' ************************************************************** ' * Pongwriter * ' * By Vern Graner SSE, Texas Information Services * ' ************************************************************** ' * Code for writing on Ping Pong Ball with Parallax Serial * ' * Inkjet printer system * ' ************************************************************** ' * Created: V0.1 11-29-2007 * ' ************************************************************** ' ************************ ' * Conditonal Compile * ' ************************************************************************* #SELECT $STAMP #CASE BS2, BS2E, BS2PE T2400 CON 396 T4800 CON 188 T9600 CON 84 T19K2 CON 32 T38K4 CON 6 #CASE BS2SX, BS2P T2400 CON 1021 T4800 CON 500 T9600 CON 240 T19K2 CON 110 T38K4 CON 45 #CASE BS2PX T2400 CON 1646 T4800 CON 813 T9600 CON 396 T19K2 CON 188 T38K4 CON 84 #ENDSELECT ' ************************ ' * Pin allocation * ' ************************ ServoEject CON 15 ' Turns to eject ball ServoRotate CON 14 ' Rotates ball for printing ServoPrinthead CON 13 ' Positions Print Head ServoIndexer CON 12 ' Allows a single ball to drop for printing InkJet CON 11 ' Serial Inkjet Printer ' ************************ ' * Constants * ' ************************ Open CON $8000 Baud CON Open + T9600 Prompt CON ">" ' ready prompt from HP driver STX CON 2 ' start of text ETX CON 3 ' end of text Esc CON 27 ' OEM configuration command ServoEjectOut CON 1100 ' ServoEjectIn CON 700 ServoRotateStop CON 760 ServoRotateFwdSlow CON 785 ServoRotateFwdFast CON 790 ServoPrintheadTop CON 1050 ServoPrintheadCenter CON 750 ServoPrintheadBottom CON 550 ServoIndexerLoad CON 825 ' ServoIndexerRelease CON 550 ' LineFeed CON 63 'interval for one LF Speed CON 10 ' Set the step rate ' Right CON 1100 ' PWN value to move servo to "right" position ' Left CON 250 ' PWM for Left ' ************************ ' * Data Variables * ' ************************ cntI VAR Word ' For loop variable cntX VAR Byte LineNumber VAR Word 'line number position variable ' Begin Sequence! 'around: DEBUG "Start Sequence!",CR DEBUG"----------------",CR GOSUB PlaceInit ' Get all servos into start positions PAUSE 2000 ' Wait a bit to build some tension! :) GOSUB DropBall ' Drop a new ball into place PAUSE 500 ' wait for ball to "settle" FOR CntX = 1 TO 3 ' Print 3 lines, 3 times GOSUB PrintHeadLineFeed GOSUB PrintText GOSUB RotateBallFwdSlow GOSUB PrintHeadLineFeed GOSUB Start2 GOSUB RotateBallFwdSlow GOSUB PrintHeadLineFeed GOSUB Start3 GOSUB RotateBallFwdSlow NEXT PAUSE 100 ' make discrete steps more visible to observers. GOSUB PrintHeadBottom ' Get the print head out of the way PAUSE 100 GOSUB EjectBall 'Eject the ball DEBUG "Done!",CR 'Cycle finished END 'SubRoutines '******************************************************************* ' ************************** ' * Print Text * ' ************************** PrintText: Reset: ' Reset InkJet SEROUT Inkjet, Baud, [Esc, "C", 25] ' intercolumn delay values 1-25 15=1.5 ms SERIN Inkjet, Baud, 500, No_Inkjet, [WAIT(Prompt)] Start: DEBUG "Line 1",CR SEROUT Inkjet, Baud, [STX] ' SEROUT Inkjet, Baud, [" WWW.TheRobotGroup.ORG <*==-|-==*> First Night Austin 2007"] SEROUT Inkjet, Baud, [" WWW.TheRobotGroup.ORG First Night Austin 2007 "] SEROUT Inkjet, Baud, [ETX] RETURN Start2: DEBUG "Line 1",CR SEROUT Inkjet, Baud, [STX] SEROUT Inkjet, Baud, [" >-< Happy New Year Austin! >-< Happy New Year Austin! "] SEROUT Inkjet, Baud, [ETX] RETURN Start3: DEBUG "Line 2",CR SEROUT Inkjet, Baud, [STX] SEROUT Inkjet, Baud, [" < - > The Robot Group, Incorporated Austin, Texas < - > "] SEROUT Inkjet, Baud, [ETX] RETURN No_Inkjet: DEBUG "No Inkjet Detected",CR RETURN ' ************************** ' * Servo Positions INIT * ' ************************** PlaceInit: DEBUG "Init Servo Positions",CR LineNumber = 550 ' Set linenumber to bottom of ball FOR cntI = 1 TO 50 PULSOUT ServoEject, ServoEjectIn PULSOUT ServoRotate, ServoRotateStop PULSOUT ServoPrinthead, ServoPrintheadBottom PULSOUT ServoIndexer, ServoIndexerRelease PAUSE 18 NEXT DEBUG "Servos ready",CR RETURN ' ************************** ' * Rotate Ball * ' ************************** RotateBallStop: DEBUG "Rotate STOP",CR FOR cntI = 1 TO 100 ' Hold in place PULSOUT ServoRotate,ServoRotateStop PAUSE 20 NEXT RETURN RotateBallFwdSlow: DEBUG "Rotate Slow",CR FOR cntI = 1 TO 95 ' Hold in place PULSOUT ServoRotate,ServoRotateFwdSlow PAUSE 20 NEXT RETURN RotateBallFwdFast: DEBUG "Rotate Fast",CR FOR cntI = 1 TO 65 ' Hold in place PULSOUT ServoRotate,ServoRotateFwdFast PAUSE 20 NEXT RETURN ' ************************** ' * Load Ball Sequence * ' ************************** DropBall: DEBUG "Load ball=",DEC ServoIndexerLoad,CR FOR cntI = ServoIndexerRelease TO ServoIndexerLoad STEP SPEED PULSOUT ServoIndexer,cntI PAUSE 20 NEXT FOR cntI = 1 TO 25 ' Hold Position to stop overshoot PULSOUT ServoIndexer,ServoIndexerLoad PAUSE 20 NEXT DEBUG "Release ball=",DEC ServoIndexerRelease,CR FOR cntI = ServoIndexerLoad TO ServoIndexerRelease STEP SPEED PULSOUT ServoIndexer,cntI PAUSE 20 NEXT FOR cntI = 1 TO 25 ' Hold Position to stop overshoot PULSOUT ServoIndexer,ServoIndexerRelease PAUSE 20 NEXT RETURN ' ************************** ' * Print Head Top * ' ************************** PrintHeadTop: DEBUG "Print Head Up",CR FOR cntI = ServoPrintHeadBottom TO ServoPrintHeadTop STEP SPEED PULSOUT ServoPrinthead,cntI PAUSE 20 NEXT FOR cntI = 1 TO 20 ' Hold in place PULSOUT ServoPrinthead,ServoPrintHeadTop PAUSE 20 NEXT ' PAUSE 2000 RETURN ' ************************** ' * Print Head Center * ' ************************** PrintHeadCenter: DEBUG "Print Head Center",CR FOR cntI = ServoPrintHeadTop TO ServoPrintHeadCenter STEP SPEED PULSOUT ServoPrinthead,cntI PAUSE 20 NEXT FOR cntI = 1 TO 20 ' Hold in place PULSOUT ServoPrinthead,ServoPrintHeadCenter PAUSE 20 NEXT ' PAUSE 2000 RETURN ' ************************** ' * Print Head Bottom * ' ************************** PrintHeadBottom: DEBUG "Print Head Bottom",CR FOR cntI = ServoPrintHeadTop TO ServoPrintHeadBottom STEP SPEED PULSOUT ServoPrinthead,cntI PAUSE 20 NEXT FOR cntI = 1 TO 20 ' Hold in place PULSOUT ServoPrinthead,ServoPrintHeadBottom PAUSE 20 NEXT ' PAUSE 2000 RETURN ' ************************** ' * Print Head Line Feed * ' ************************** PrintHeadLineFeed: DEBUG "Print Head LineFeed",CR ' top to bottom is 1050-> 550 DEBUG "LineNumber=", DEC LineNumber,CR FOR cntI = 1 TO 10 PULSOUT ServoPrinthead,LineNumber PAUSE 20 NEXT 'IF LineNumber < 1050 THEN ' see if we are at last line LineNumber = Linenumber + LineFeed ' if not, the n move the head 'ELSE ' GOTO NewBall ' if so, then start over again 'ENDIF RETURN ' ************************** ' * Eject Ball * ' ************************** EjectBall: DEBUG "Eject ball",CR FOR cntI = ServoEjectIn TO ServoEjectOut STEP SPEED PULSOUT ServoEject,cntI PAUSE 20 NEXT ' PAUSE 200 DEBUG "Return to Catch",CR FOR cntI = ServoEjectOut TO ServoEjectIn STEP SPEED PULSOUT ServoEject,cntI PAUSE 20 NEXT FOR cntI = 1 TO 25 ' Prevent overshoot PULSOUT ServoEject,ServoEjectIn PAUSE 20 NEXT RETURN