By Bill Wong
Spiral sure (book simply)
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Additional resources for Advanced robotics with the Toddler: student guide, version 1.2
It provides an obvious way of controlling the Toddler but enumerating all 36 movements consumes lots of precious program space. It also makes changes unwieldy. For example, implementing variable speed movements requires changes to all movement routines. Approach #2: Data Tables One obvious approach to consolidating 36 similar routines is to determine commonality within the routines and generating one or more routines that perform the same functions within certain parameters. Putting the parameters into data tables is one way to do this.
The Toddler can then walk on its own when the power is turned on since the program is downloaded into non-volatile memory. You can also program the Toddler with the switch in Position 1, hold the reset button and move it to Position 2 so it will walk. Three constants could be modified to make it walk quicker: MoveDelay and TiltStep and StrideStep. Decreasing MoveDelay means there will be less pause between the servo pulses. Increasing TiltStep and StrideStep means the servo pulse width changes will be larger (making for fewer pulses to complete the step).
Figure 1-17 Install tilt rods. Chapter #1: Assembling the Toddler Robot · Page 21 Repeat for the other side. There is an easy way to remove the ball cups from the ball joint. If you need to make adjustments simply place a screwdriver between the ball cup and the Toddler’s foot and carefully pry (snap) it off. It should pop off and can be pressed back on after you make a few turns to adjust. Toddler Tuning Tips: Toddler functions best when its body is shifted slightly toward the rear feet. Also, with both servos centered verify that the Toddler’s feed are flat on the ground or that the outsteps are angled slightly downward.
Advanced robotics with the Toddler: student guide, version 1.2 by Bill Wong