(I am taking this class in Spring 2001)
This lab deals with the programming of a robotic arm using c code. The original code provided by Dr. Klenke shows the arm moving from its one set of limits for the arm to the other. The arm has three motors; one for left to right motion, one for up and down motion, and one for the opening and closing of the grip. In this lab the student must design a program to interface buttons to smoothly control the motion of the are and make sure that it does not exceed its limits. My code for the control of the arm is here.
This lab deals with the programming of the robot again, except using interrupts. The buttons are now on PORTB and when interupt when pressed. Every 10ms a pulse will be sent to the servos in the arm to update the location. There is a delay when the button is pressed before it will increment again as well to allow the robot to move a certain distance every time. The code for the robot arm is here.