Some of my robotic source files
Here is a collection of source files for various robotic projects. These are not necessarily complete, and I don't guarantee that all of them work. Some were featured in past Nuts & Volts articles and in my book, Build Your Own Robot!, and others were just projects I whipped out.
stepper.bas Source code in SBasic for my library of stepper motor routines. This code assumes a 68hc11, though it is heavily commented and could be rewritten for other processors fairly easily. Refer to the chapter Stepper Motor Basics in my book, Build Your Own Robot!
811bug.zip Source code in 68hc11 assembler for a small S19 loader that sits in the 2K of EEPROM on the 68hc811e2. This downloader is intended for use in expanded memory systems. It takes over the vector area, providing RAM vectors for your code to use. You can connect any comm program at 9600 baud and use an ASCII file transfer to move your code into the 68hc811 chip. Heavily commented; requires the asmhc11 assembler found in my 68hc11 SBasic distribution file. Refer to the chapter Remote Reloads with 811bug in my book, Build Your Own Robot!
e9bug.zip Source code in 68hc11 assembler for a small S19 loader that sits in the 512 bytes of EEPROM on the 68hc11e9 chip. This downloader is intended for use in expanded memory systems. You can connect any comm program at 9600 baud and use an ASCII file transfer to move your code into the 68hc11 chip. Heavily commented; requires the asmhc11 assembler found in my 68hc11 SBasic distribution file. Refer to the chapter Son of BOTBoard in my book, Build Your Own Robot!
stopwtch.bas Source code in SBasic for a stopwatch built around a two-line LCD. I get asked about LCD code all the time, so here is a working program, in assembly and SB, that contains all of the LCD drivers you are likely to need. It even shows you how to initialize the LCD, and how to modify SBasic's OUTCH function so it talks to the LCD rather than the SCI. The code is sparsely commented; for full details, refer to the April 1998 issue of Nuts & Volts.
ready04.bas Source code for the modified Ready-Set-Go truck. Contains support for the lights, motors, PWM drive, and keypad. Main routine does a few simple motions, but shows how to add additional behaviors. Refer to the chapter The Ready-Set-Go Toy Truck in my book, Build Your Own Robot!
arnold01.zip Source code for Arnold, a small robo-pet. Contains IR object detection code written in assembly language, with the main code written in tiny4th. Refer to the chapter The Basics of Hobby Robotics in my book, Build Your Own Robot!
huey.asc Source code for Huey, my original robo-pet. Written in assembly language for the Motorola FREEWARE asmhc11 assembler; fits in 512 bytes of EEPROM. Refer to the chapter Allow Me to Introduce Huey in my book, Build Your Own Robot!
t4files.zip A collection of tiny4th source files, including the source code for Arnold (above). This collection contains all of my sundry t4 files. Some will be finished projects, some are unfinished programs, and a few probably shouldn't have been released. But they should at least prove interesting. This group contains the file motors11.t4, for those who tried to build the Arnold program and couldn't.
platform.zip Source code (in SBasic) for the maze-tilting robot featured in my February 1997 Nuts & Volts column. Refer to the chapter My Marble Maze Machine in my book, Build Your Own Robot!
hercules.bas Source code (in SBasic) for Hercules, my small robotpet. I built Hercules by sticking robo-parts to the underside of a 4-cell AA-battery holder; the code shows how to read photocells and control servos. Refer to the chapter Hercules, My Smallest Robot in my book, Build Your Own Robot!
start.s Source code (in 68332 assembler) for the startup code I featured in the November 1997 Nuts & Volts column. This code works with the Software Development Systems 68K compiler/assembler demo suite. NOTE: I still don't have this working with the New Micros 68332 board, though everything looks OK. If anyone can spot what I'm doing wrong, please let me know! You will need a copy of the SDS demo kit to make full use of this software, but you should probably have a copy of their dynamite demo package anyway.