Subversion Repositories svnkaklik

/*

 * Ping

 * ====

 * Adapted from a program by Dave Chen and Simen Svale Skogsrud

 * 

 * This program assumes that the light sensor is on IN_2 and

 * that it points in the same direction as the infrared connection

 * on the robot. It beeps when the robot gets close to an obstacle.

 * This is done by repeatedly sending IR messages. These cause a

 * large fluctuation in light intensity.

 * 

 * This is a nice mechanism to find a close by wall without bumping

 * in to it.

 */

#define THRESHOLD 200    // Making this larger decreases the distance

int lastlevel;

task Ping()

// Constantly test whether there is a high fluctuation 

{

  SetSensor(SENSOR_2,_SENSOR_CFG(SENSOR_TYPE_LIGHT, SENSOR_MODE_RAW));

  lastlevel = 0;

  while(true)

  {

    SendMessage(0);

    if(lastlevel > SENSOR_2)

    {

      // Close to something

      PlaySound(1);

      Wait(30);

    }

    lastlevel = SENSOR_2;

    lastlevel -= THRESHOLD;

  }

}

task main()

{

  start Ping;

}