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&KDOOHQJH
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3DUWV5HTXLUHG 
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3URJUDP,W
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'LVWDQFH&DOLEUDWLRQ 
0DNLQJ7XUQV
*RWR6WDWHPHQW 
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$OO7RJHWKHU1RZ
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’Program Listing 1.1 v1.2
’Program for calibrating servo to its center using BS-2
center: ’establishes a name for this calibration routine
pulsout 15, 750 ’sends a pulse of 1.5 milliseconds to the servo
pause 20 ’delay between pulses is 10 ms to 20 ms
goto center
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x var word
right_servo con 3
left_servo con 15
backwards:
for x=1 to 100
pulsout left_servo,850
pulsout right_servo,650
pause 20
next
pause 250
forward:
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20.0
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Rotational Speed (RPM)
Servo #1
Servo #2
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’Robotics Program Listing 2.1 v1.2
left_servo con 15
right_servo con 3
start: ’begin of routine
pulsout left_servo,750 ’pulse width of 1500 us
pulsout right_servo,750 ’pulse width of 1500 us
pause 20 ’pause for 20 ms
goto start ’do it again
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’Robotics Program Listing 2.2 v1.2

left_servo con 15
right_servo con 3
x var word
pause 2000
for x = 850 to 650 ’begin of routine
pulsout left_servo,x ’pulse width of 1500 us
pulsout right_servo,1500-x ’pulse width of 1500 us
pause 20 ’pause for 20 ms
next