' in the initialization code
' wherever you need to read the current heading just use
heading := robot.heading
' this assumes you declared the heading variable earlier
' as a WORD or a LONG
LISTING 3. Sample compass reading code.
plot of what is in front of the robot. I have been working on the
default firmware for RoboProp, and I thought you might want to see
the LIDAR plot generated by one of Robbie's cousins, Marco. Check out
roboprop lidar demo
To capture this video, I added a small video output module to
Marco and used a USB video capture device to record the live video
coming from Marco. The heading is from an HMC6352 and was
updating live — as was the radar plot showing the closest object in
front of the Sharp sensor.
The rectangles under the radar plot show the status of the
left/right/rear virtual bumpers, and the status of the three lines sensors
on Marco. The other status displays are currently only mockups. (You
can view the LIDAR demo on my You Tube channel at
So, what am I planning to do with Robbie now?
• Explore more "reflex" behavior based on the virtual bumpers.
• Experiment with odometry for course/distance based navigation.
• Integrate a compass heading with the odometry based navigation.
• Add a small speaker so Robbie can make noises to indicate his status.
• Experiment with LIDAR based mapping.
I hope you enjoyed this article series. Please feel free to contact me
at email@example.com with any questions you may have about
Robbie (or RoboProp). SV
FIGURE 7. RoboProp LIDAR demo.
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