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Hexapod Test Programs

Test the Programming Function

Create a simple program to blink the leds. These are connected to pins B0 and B1. Perhaps try a program that blinks the leds alternately or varies the blinking rate. Try the program first on a breadboard.
If it works, shut off the main power switch on the Hexapod. Remove the jumper at the programmer interface (on the control board) and remember where you put it. This disconnects power again to the board. Insert the programmer on the board connectors [need photo here]. And program the chip using icprog.
Remove the programmer. Reconnect the jumper. Ooops, you probably lost it. I told you to remember where you put it. Spend some time looking for the jumper and when you find it reconnect the power and switch on the main switch on the power on the hexapod.
If the leds blink then you have verified the programming and function of the board, if not see your instructor, its time to troubleshoot.

Test the Sensors

Write a program that reads the sensors and write the results to the leds.
In order to do this you must set trisa to input and trisb to output.
IMPORTANT You must also insert the line "cmcon = $07", this turns off a comparitor mode on port a. (without this port a will not act as an input.
The sensors are located on A0 and A1 so they simply must be read by reading port a and outputted to portb.
When the program is completed and debugged you can test the proximity function of the sensors. Proximity of each of the sensors should turn the leds on and off.

Centre all Servos

Write a program to centre all of the servos. They are connected to pins B3, B4 and B5.
When this works you have verified the servo connections. You may need to physically adjust the servo mechanical connections when the servo is centred. See you instructor if this is required.