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/roboti/callis/Callis.bak |
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0,0 → 1,202 |
// Soutezni robot pro Istrobot 2004 |
// $Archive: /Lego/Callis/callis.nqc $ |
// $Date: 27.04.04 21:19 $ |
// $Revision: 23 $ |
#define THRESHOLD 50 // rozhodovaci uroven mezi cernou a bilou |
#define ML OUT_A // Motory |
#define MR OUT_C |
#define FL OnFwd(ML) // Vpred |
#define FR OnRev(MR) |
#define BL OnRev(ML) // Vzad |
#define BR OnFwd(MR) |
#define RSENSOR SENSOR_3 // Senzory na caru |
#define LSENSOR SENSOR_1 |
#define BUMPER SENSOR_2 // Senzor na cihlu |
#define MEZERA 38 // jak se muze jet dlouho bez cary |
#define COUVEJ 70 // kolik se ma couvat po detekci diry |
#define CIKCAK 40 // kolik se ma jet cik/cak |
#define PRES_DIRU 35 // jak predpokladame velkou diru |
#define L 0 // left |
#define R 1 // right |
#define S 2 // straight |
#define STOP Off(ML + MR); Wait(10); // zastav 8 |
int movement; // smer minuleho pohybu |
int line; // na ktere strane byla detekovana cara |
int dira; // pocitadlo pro nalezeni preruseni cary |
int n; // pomocna promena pro cyklus FOR |
void cikcak() // Hledani cary |
{ |
n=CIKCAK/2; // poprve hned zatoc opacne, nez se jelo pred detekci diry |
switch(movement) // zmenime smer zataceni |
{ |
case L: |
FL; BR; // doprava |
movement=R; // poznamenej kam jedem |
line=L; // kdyz prejedem, tak bude cara vlevo |
break; |
case R: |
FR; BL; // doleva |
movement=L; // poznamenej kam jedem |
line=R; // kdyz prejedem, tak bude cara vpravo |
break; |
} |
while(true) // jed cik-cak, dokud nenajdes caru |
{ |
if ((THRESHOLD < RSENSOR) || (THRESHOLD < RSENSOR)) // je cara ? |
{ |
STOP; |
break; |
}; |
if (CIKCAK < n++) // Jedeme uz dost dlouho cik? Pak jed cak. |
{ |
n=0; |
STOP; |
switch(movement) // zmenime smer zataceni |
{ |
case L: |
FL; BR; // doprava |
movement=R; // poznamenej kam jedem |
line=L; // kdyz prejedem, tak bude cara vlevo |
break; |
case R: |
FR; BL; // doleva |
movement=L; // poznamenej kam jedem |
line=R; // kdyz prejedem, tak bude cara vpravo |
break; |
} |
} |
} |
} |
task main() |
{ |
PlaySound (SOUND_DOUBLE_BEEP); |
Wait(100); // 1s |
SetSensor(RSENSOR,SENSOR_LIGHT); // senzor na caru modry pravy |
SetSensor(LSENSOR,SENSOR_LIGHT); // senzor na caru modry levy |
SetSensor(BUMPER,SENSOR_TOUCH); // sensor na prekazku |
SetPower (ML,OUT_FULL); // vykon motoru |
SetPower (MR,OUT_FULL); |
movement=R; |
line=S; |
dira=0; |
cikcak(); // toc se, abys nasel caru |
FL; FR; // vpred |
// Sledovani cary |
while(true) |
{ |
if(BUMPER) // je cihla? |
{ |
PlaySound(SOUND_DOWN); |
objizdka(); // objed cihlu |
} |
if (THRESHOLD < RSENSOR) // Cara pod pravym senzorem |
{ |
dira=0; // nuluj pocitadlo diry, protoze jsme videli caru |
line=R; // zaznamenej, kdes videl caru |
FL; FR; // rovne |
continue; |
} |
if (THRESHOLD < LSENSOR) // Cara pod levym senzorem |
{ |
dira=0; // nuluj pocitadlo diry, protoze jsme videli caru |
line=L; // zaznamenej, kdes videl caru |
FL; FR; // rovne |
continue; |
} |
// oba senzory mimo caru |
if (0==dira) // v prvnim cyklu po ztrate cary zacneme zahybat |
// v ostatnich cyklech nedelame nic (pro urychleni snimani) |
{ |
switch(line) // kdyz nevidis caru, tak jed tam, kdes ji videl naposled |
{ |
case L: |
Off(ML); // doleva |
movement=L; // poznamenej kam jedes |
break; |
case R: |
Off(MR); // doprava |
movement=R; // poznamenej kam jedes |
break; |
}; |
dira++; // zvets pocitadlo diry, aby to pristi cyklus tudy neslo |
continue; // co nejrychleji se vrat na snimani cary |
} |
if (MEZERA < dira++) // nejedeme uz moc dlouho bez cary? |
{ |
dira=0; |
PlaySound (SOUND_FAST_UP); |
switch(movement) // kam se jelo ? |
{ |
case L: |
Off(ML); // couvej doprava |
BR; |
Wait(COUVEJ+10); |
movement=R; |
break; |
case R: |
BL; // couvej doleva |
Off(MR); |
Wait(COUVEJ); |
movement=L; |
break; |
} |
PlaySound(SOUND_CLICK); |
STOP; // konec couvani |
FL; FR; // rovne pres diru |
Wait(PRES_DIRU); |
STOP; |
cikcak(); // najdi caru |
FR; FL; // vpred |
} // dira |
} // while(true) |
} |
void objizdka() |
{ |
BL; BR; // zacouvej |
Wait(15); |
STOP; |
cikcak(); // vyrovnej se na caru |
cikcak(); // radeji 3x, aby se vyrovnaly setrvacne sily |
cikcak(); |
BL; FR; Wait(22); // vlevo |
STOP; |
FL; FR; Wait(65); // rovne |
STOP; |
FL; BR; Wait(22); // vpravo |
STOP; |
FL; FR; Wait(77); // rovne |
STOP; |
FL; BR; Wait(22); // vpravo |
STOP; |
FL; FR; |
Wait(20); // kousek rovne |
// rovne, dokud nenarazis na caru |
while(THRESHOLD > RSENSOR); // pravej senzor, protoze cihla je vpravo |
STOP; |
BL; FR; // toc se doleva, dokud nenarazis na caru |
while(THRESHOLD > LSENSOR); // levej senzor, protoze cara je urcite vlevo |
STOP; |
line=R; // caru predpokladame vpravo, kdybysme ji prejeli |
dira=0; |
FL; FR; // vpred |
} |
/roboti/callis/Callis.nqc |
---|
0,0 → 1,202 |
// Soutezni robot pro Istrobot 2004 |
// $Archive: /Lego/Callis/callis.nqc $ |
// $Date: 27.04.04 22:51 $ |
// $Revision: 24 $ |
#define THRESHOLD 50 // rozhodovaci uroven mezi cernou a bilou |
#define ML OUT_A // Motory |
#define MR OUT_C |
#define FL OnFwd(ML) // Vpred |
#define FR OnRev(MR) |
#define BL OnRev(ML) // Vzad |
#define BR OnFwd(MR) |
#define RSENSOR SENSOR_3 // Senzory na caru |
#define LSENSOR SENSOR_1 |
#define BUMPER SENSOR_2 // Senzor na cihlu |
#define MEZERA 38 // jak se muze jet dlouho bez cary |
#define COUVEJ 70 // kolik se ma couvat po detekci diry |
#define CIKCAK 40 // kolik se ma jet cik/cak |
#define PRES_DIRU 35 // jak predpokladame velkou diru |
#define L 0 // left |
#define R 1 // right |
#define S 2 // straight |
#define STOP Off(ML + MR); Wait(10); // zastav 8 |
int movement; // smer minuleho pohybu |
int line; // na ktere strane byla detekovana cara |
int dira; // pocitadlo pro nalezeni preruseni cary |
int n; // pomocna promena pro cyklus FOR |
void cikcak() // Hledani cary |
{ |
n=CIKCAK/2; // poprve hned zatoc opacne, nez se jelo pred detekci diry |
switch(movement) // zmenime smer zataceni |
{ |
case L: |
FL; BR; // doprava |
movement=R; // poznamenej kam jedem |
line=L; // kdyz prejedem, tak bude cara vlevo |
break; |
case R: |
FR; BL; // doleva |
movement=L; // poznamenej kam jedem |
line=R; // kdyz prejedem, tak bude cara vpravo |
break; |
} |
while(true) // jed cik-cak, dokud nenajdes caru |
{ |
if ((THRESHOLD < RSENSOR) || (THRESHOLD < RSENSOR)) // je cara ? |
{ |
STOP; |
break; |
}; |
if (CIKCAK < n++) // Jedeme uz dost dlouho cik? Pak jed cak. |
{ |
n=0; |
STOP; |
switch(movement) // zmenime smer zataceni |
{ |
case L: |
FL; BR; // doprava |
movement=R; // poznamenej kam jedem |
line=L; // kdyz prejedem, tak bude cara vlevo |
break; |
case R: |
FR; BL; // doleva |
movement=L; // poznamenej kam jedem |
line=R; // kdyz prejedem, tak bude cara vpravo |
break; |
} |
} |
} |
} |
task main() |
{ |
PlaySound (SOUND_DOUBLE_BEEP); |
Wait(100); // 1s |
SetSensor(RSENSOR,SENSOR_LIGHT); // senzor na caru modry pravy |
SetSensor(LSENSOR,SENSOR_LIGHT); // senzor na caru modry levy |
SetSensor(BUMPER,SENSOR_TOUCH); // sensor na prekazku |
SetPower (ML,OUT_FULL); // vykon motoru |
SetPower (MR,OUT_FULL); |
movement=R; |
line=S; |
dira=0; |
cikcak(); // toc se, abys nasel caru |
FL; FR; // vpred |
// Sledovani cary |
while(true) |
{ |
if(BUMPER) // je cihla? |
{ |
PlaySound(SOUND_DOWN); |
objizdka(); // objed cihlu |
} |
if (THRESHOLD < RSENSOR) // Cara pod pravym senzorem |
{ |
dira=0; // nuluj pocitadlo diry, protoze jsme videli caru |
line=R; // zaznamenej, kdes videl caru |
FL; FR; // rovne |
continue; |
} |
if (THRESHOLD < LSENSOR) // Cara pod levym senzorem |
{ |
dira=0; // nuluj pocitadlo diry, protoze jsme videli caru |
line=L; // zaznamenej, kdes videl caru |
FL; FR; // rovne |
continue; |
} |
// oba senzory mimo caru |
if (0==dira) // v prvnim cyklu po ztrate cary zacneme zahybat |
// v ostatnich cyklech nedelame nic (pro urychleni snimani) |
{ |
switch(line) // kdyz nevidis caru, tak jed tam, kdes ji videl naposled |
{ |
case L: |
Off(ML); // doleva |
movement=L; // poznamenej kam jedes |
break; |
case R: |
Off(MR); // doprava |
movement=R; // poznamenej kam jedes |
break; |
}; |
dira++; // zvets pocitadlo diry, aby to pristi cyklus tudy neslo |
continue; // co nejrychleji se vrat na snimani cary |
} |
if (MEZERA < dira++) // nejedeme uz moc dlouho bez cary? |
{ |
dira=0; |
PlaySound (SOUND_FAST_UP); |
switch(movement) // kam se jelo ? |
{ |
case L: |
Off(ML); // couvej doprava |
BR; |
Wait(COUVEJ+10); |
movement=R; |
break; |
case R: |
BL; // couvej doleva |
Off(MR); |
Wait(COUVEJ); |
movement=L; |
break; |
} |
PlaySound(SOUND_CLICK); |
STOP; // konec couvani |
FL; FR; // rovne pres diru |
Wait(PRES_DIRU); |
STOP; |
cikcak(); // najdi caru |
FR; FL; // vpred |
} // dira |
} // while(true) |
} |
void objizdka() |
{ |
BL; BR; // zacouvej |
Wait(15); |
STOP; |
cikcak(); // vyrovnej se na caru |
cikcak(); // radeji 3x, aby se vyrovnaly setrvacne sily |
cikcak(); |
BL; FR; Wait(22); // vlevo |
STOP; |
FL; FR; Wait(65); // rovne |
STOP; |
FL; BR; Wait(22); // vpravo |
STOP; |
FL; FR; Wait(77); // rovne |
STOP; |
FL; BR; Wait(21); // vpravo |
STOP; |
FL; FR; |
Wait(20); // kousek rovne |
// rovne, dokud nenarazis na caru |
while(THRESHOLD > RSENSOR); // pravej senzor, protoze cihla je vpravo |
STOP; |
BL; FR; // toc se doleva, dokud nenarazis na caru |
while(THRESHOLD > LSENSOR); // levej senzor, protoze cara je urcite vlevo |
STOP; |
line=R; // caru predpokladame vpravo, kdybysme ji prejeli |
dira=0; |
FL; FR; // vpred |
} |
/roboti/callis/Callis_NQC.PDF |
---|
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/roboti/callis/Callis_R.bak |
---|
0,0 → 1,203 |
// Soutezni robot pro Istrobot 2004 |
// Objeti cihly vpravo |
// $Archive: /Lego/Callis/Callis_R.nqc $ |
// $Date: 27.04.04 20:52 $ |
// $Revision: 3 $ |
#define THRESHOLD 50 // rozhodovaci uroven mezi cernou a bilou |
#define ML OUT_A // Motory |
#define MR OUT_C |
#define FL OnFwd(ML) // Vpred |
#define FR OnRev(MR) |
#define BL OnRev(ML) // Vzad |
#define BR OnFwd(MR) |
#define RSENSOR SENSOR_3 // Senzory na caru |
#define LSENSOR SENSOR_1 |
#define BUMPER SENSOR_2 // Senzor na cihlu |
#define MEZERA 38 // jak se muze jet dlouho bez cary |
#define COUVEJ 70 // kolik se ma couvat po detekci diry |
#define CIKCAK 40 // kolik se ma jet cik/cak |
#define PRES_DIRU 35 // jak predpokladame velkou diru |
#define L 0 // left |
#define R 1 // right |
#define S 2 // straight |
#define STOP Off(ML + MR); Wait(10); // zastav 8 |
int movement; // smer minuleho pohybu |
int line; // na ktere strane byla detekovana cara |
int dira; // pocitadlo pro nalezeni preruseni cary |
int n; // pomocna promena pro cyklus FOR |
void cikcak() // Hledani cary |
{ |
n=CIKCAK/2; // poprve hned zatoc opacne, nez se jelo pred detekci diry |
switch(movement) // zmenime smer zataceni |
{ |
case L: |
FL; BR; // doprava |
movement=R; // poznamenej kam jedem |
line=L; // kdyz prejedem, tak bude cara vlevo |
break; |
case R: |
FR; BL; // doleva |
movement=L; // poznamenej kam jedem |
line=R; // kdyz prejedem, tak bude cara vpravo |
break; |
} |
while(true) // jed cik-cak, dokud nenajdes caru |
{ |
if ((THRESHOLD < RSENSOR) || (THRESHOLD < RSENSOR)) // je cara ? |
{ |
STOP; |
break; |
}; |
if (CIKCAK < n++) // Jedeme uz dost dlouho cik? Pak jed cak. |
{ |
n=0; |
STOP; |
switch(movement) // zmenime smer zataceni |
{ |
case L: |
FL; BR; // doprava |
movement=R; // poznamenej kam jedem |
line=L; // kdyz prejedem, tak bude cara vlevo |
break; |
case R: |
FR; BL; // doleva |
movement=L; // poznamenej kam jedem |
line=R; // kdyz prejedem, tak bude cara vpravo |
break; |
} |
} |
} |
} |
task main() |
{ |
PlaySound (SOUND_DOUBLE_BEEP); |
Wait(100); // 1s |
SetSensor(RSENSOR,SENSOR_LIGHT); // senzor na caru modry pravy |
SetSensor(LSENSOR,SENSOR_LIGHT); // senzor na caru modry levy |
SetSensor(BUMPER,SENSOR_TOUCH); // sensor na prekazku |
SetPower (ML,OUT_FULL); // vykon motoru |
SetPower (MR,OUT_FULL); |
movement=R; |
line=S; |
dira=0; |
cikcak(); // toc se, abys nasel caru |
FL; FR; // vpred |
// Sledovani cary |
while(true) |
{ |
if(BUMPER) // je cihla? |
{ |
PlaySound(SOUND_DOWN); |
objizdka(); // objed cihlu |
} |
if (THRESHOLD < RSENSOR) // Cara pod pravym senzorem |
{ |
dira=0; // nuluj pocitadlo diry, protoze jsme videli caru |
line=R; // zaznamenej, kdes videl caru |
FL; FR; // rovne |
continue; |
} |
if (THRESHOLD < LSENSOR) // Cara pod levym senzorem |
{ |
dira=0; // nuluj pocitadlo diry, protoze jsme videli caru |
line=L; // zaznamenej, kdes videl caru |
FL; FR; // rovne |
continue; |
} |
// oba senzory mimo caru |
if (0==dira) // v prvnim cyklu po ztrate cary zacneme zahybat |
// v ostatnich cyklech nedelame nic (pro urychleni snimani) |
{ |
switch(line) // kdyz nevidis caru, tak jed tam, kdes ji videl naposled |
{ |
case L: |
Off(ML); // doleva |
movement=L; // poznamenej kam jedes |
break; |
case R: |
Off(MR); // doprava |
movement=R; // poznamenej kam jedes |
break; |
}; |
dira++; // zvets pocitadlo diry, aby to pristi cyklus tudy neslo |
continue; // co nejrychleji se vrat na snimani cary |
} |
if (MEZERA < dira++) // nejedeme uz moc dlouho bez cary? |
{ |
dira=0; |
PlaySound (SOUND_FAST_UP); |
switch(movement) // kam se jelo ? |
{ |
case L: |
Off(ML); // couvej doprava |
BR; |
Wait(COUVEJ+10); |
movement=R; |
break; |
case R: |
BL; // couvej doleva |
Off(MR); |
Wait(COUVEJ); |
movement=L; |
break; |
} |
PlaySound(SOUND_CLICK); |
STOP; // konec couvani |
FL; FR; // rovne pres diru |
Wait(PRES_DIRU); |
STOP; |
cikcak(); // najdi caru |
FR; FL; // vpred |
} // dira |
} // while(true) |
} |
void objizdka() |
{ |
BL; BR; // zacouvej |
Wait(15); |
STOP; |
cikcak(); // vyrovnej se na caru |
cikcak(); // radeji 3x, aby se vyrovnaly setrvacne sily |
cikcak(); |
FL; BR; Wait(23); // vpravo |
STOP; |
FL; FR; Wait(65); // rovne |
STOP; |
BL; FR; Wait(23); // vlevo |
STOP; |
FL; FR; Wait(75); // rovne |
STOP; |
BL; FR; Wait(23); // vlevo |
STOP; |
FL; FR; |
Wait(20); // kousek rovne |
// rovne, dokud nenarazis na caru |
while(THRESHOLD > LSENSOR); // levej senzor, protoze cihla je levo |
STOP; |
FL; BR; // toc se doprava, dokud nenarazis na caru |
while(THRESHOLD > RSENSOR); // pravej senzor, protoze cara je urcite vpravo |
STOP; |
line=L; // caru predpokladame vlevo, kdybysme ji prejeli |
dira=0; |
FL; FR; // vpred |
} |
/roboti/callis/Callis_R.nqc |
---|
0,0 → 1,203 |
// Soutezni robot pro Istrobot 2004 |
// Objeti cihly vpravo |
// $Archive: /Lego/Callis/Callis_R.nqc $ |
// $Date: 27.04.04 20:52 $ |
// $Revision: 3 $ |
#define THRESHOLD 50 // rozhodovaci uroven mezi cernou a bilou |
#define ML OUT_A // Motory |
#define MR OUT_C |
#define FL OnFwd(ML) // Vpred |
#define FR OnRev(MR) |
#define BL OnRev(ML) // Vzad |
#define BR OnFwd(MR) |
#define RSENSOR SENSOR_3 // Senzory na caru |
#define LSENSOR SENSOR_1 |
#define BUMPER SENSOR_2 // Senzor na cihlu |
#define MEZERA 38 // jak se muze jet dlouho bez cary |
#define COUVEJ 70 // kolik se ma couvat po detekci diry |
#define CIKCAK 40 // kolik se ma jet cik/cak |
#define PRES_DIRU 35 // jak predpokladame velkou diru |
#define L 0 // left |
#define R 1 // right |
#define S 2 // straight |
#define STOP Off(ML + MR); Wait(10); // zastav 8 |
int movement; // smer minuleho pohybu |
int line; // na ktere strane byla detekovana cara |
int dira; // pocitadlo pro nalezeni preruseni cary |
int n; // pomocna promena pro cyklus FOR |
void cikcak() // Hledani cary |
{ |
n=CIKCAK/2; // poprve hned zatoc opacne, nez se jelo pred detekci diry |
switch(movement) // zmenime smer zataceni |
{ |
case L: |
FL; BR; // doprava |
movement=R; // poznamenej kam jedem |
line=L; // kdyz prejedem, tak bude cara vlevo |
break; |
case R: |
FR; BL; // doleva |
movement=L; // poznamenej kam jedem |
line=R; // kdyz prejedem, tak bude cara vpravo |
break; |
} |
while(true) // jed cik-cak, dokud nenajdes caru |
{ |
if ((THRESHOLD < RSENSOR) || (THRESHOLD < RSENSOR)) // je cara ? |
{ |
STOP; |
break; |
}; |
if (CIKCAK < n++) // Jedeme uz dost dlouho cik? Pak jed cak. |
{ |
n=0; |
STOP; |
switch(movement) // zmenime smer zataceni |
{ |
case L: |
FL; BR; // doprava |
movement=R; // poznamenej kam jedem |
line=L; // kdyz prejedem, tak bude cara vlevo |
break; |
case R: |
FR; BL; // doleva |
movement=L; // poznamenej kam jedem |
line=R; // kdyz prejedem, tak bude cara vpravo |
break; |
} |
} |
} |
} |
task main() |
{ |
PlaySound (SOUND_DOUBLE_BEEP); |
Wait(100); // 1s |
SetSensor(RSENSOR,SENSOR_LIGHT); // senzor na caru modry pravy |
SetSensor(LSENSOR,SENSOR_LIGHT); // senzor na caru modry levy |
SetSensor(BUMPER,SENSOR_TOUCH); // sensor na prekazku |
SetPower (ML,OUT_FULL); // vykon motoru |
SetPower (MR,OUT_FULL); |
movement=R; |
line=S; |
dira=0; |
cikcak(); // toc se, abys nasel caru |
FL; FR; // vpred |
// Sledovani cary |
while(true) |
{ |
if(BUMPER) // je cihla? |
{ |
PlaySound(SOUND_DOWN); |
objizdka(); // objed cihlu |
} |
if (THRESHOLD < RSENSOR) // Cara pod pravym senzorem |
{ |
dira=0; // nuluj pocitadlo diry, protoze jsme videli caru |
line=R; // zaznamenej, kdes videl caru |
FL; FR; // rovne |
continue; |
} |
if (THRESHOLD < LSENSOR) // Cara pod levym senzorem |
{ |
dira=0; // nuluj pocitadlo diry, protoze jsme videli caru |
line=L; // zaznamenej, kdes videl caru |
FL; FR; // rovne |
continue; |
} |
// oba senzory mimo caru |
if (0==dira) // v prvnim cyklu po ztrate cary zacneme zahybat |
// v ostatnich cyklech nedelame nic (pro urychleni snimani) |
{ |
switch(line) // kdyz nevidis caru, tak jed tam, kdes ji videl naposled |
{ |
case L: |
Off(ML); // doleva |
movement=L; // poznamenej kam jedes |
break; |
case R: |
Off(MR); // doprava |
movement=R; // poznamenej kam jedes |
break; |
}; |
dira++; // zvets pocitadlo diry, aby to pristi cyklus tudy neslo |
continue; // co nejrychleji se vrat na snimani cary |
} |
if (MEZERA < dira++) // nejedeme uz moc dlouho bez cary? |
{ |
dira=0; |
PlaySound (SOUND_FAST_UP); |
switch(movement) // kam se jelo ? |
{ |
case L: |
Off(ML); // couvej doprava |
BR; |
Wait(COUVEJ+10); |
movement=R; |
break; |
case R: |
BL; // couvej doleva |
Off(MR); |
Wait(COUVEJ); |
movement=L; |
break; |
} |
PlaySound(SOUND_CLICK); |
STOP; // konec couvani |
FL; FR; // rovne pres diru |
Wait(PRES_DIRU); |
STOP; |
cikcak(); // najdi caru |
FR; FL; // vpred |
} // dira |
} // while(true) |
} |
void objizdka() |
{ |
BL; BR; // zacouvej |
Wait(15); |
STOP; |
cikcak(); // vyrovnej se na caru |
cikcak(); // radeji 3x, aby se vyrovnaly setrvacne sily |
cikcak(); |
FL; BR; Wait(23); // vpravo |
STOP; |
FL; FR; Wait(65); // rovne |
STOP; |
BL; FR; Wait(23); // vlevo |
STOP; |
FL; FR; Wait(75); // rovne |
STOP; |
BL; FR; Wait(23); // vlevo |
STOP; |
FL; FR; |
Wait(20); // kousek rovne |
// rovne, dokud nenarazis na caru |
while(THRESHOLD > LSENSOR); // levej senzor, protoze cihla je vlevo |
STOP; |
FL; BR; // toc se doprava, dokud nenarazis na caru |
while(THRESHOLD > RSENSOR); // pravej senzor, protoze cara je urcite vpravo |
STOP; |
line=L; // caru predpokladame vlevo, kdybysme ji prejeli |
dira=0; |
FL; FR; // vpred |
} |
/roboti/callis/Callis_R_rovne.bak |
---|
0,0 → 1,203 |
// Soutezni robot pro Istrobot 2004 |
// Objeti cihly vpravo |
// $Archive: /Lego/Callis/Callis_R.nqc $ |
// $Date: 27.04.04 20:52 $ |
// $Revision: 3 $ |
#define THRESHOLD 50 // rozhodovaci uroven mezi cernou a bilou |
#define ML OUT_A // Motory |
#define MR OUT_C |
#define FL OnFwd(ML) // Vpred |
#define FR OnRev(MR) |
#define BL OnRev(ML) // Vzad |
#define BR OnFwd(MR) |
#define RSENSOR SENSOR_3 // Senzory na caru |
#define LSENSOR SENSOR_1 |
#define BUMPER SENSOR_2 // Senzor na cihlu |
#define MEZERA 38 // jak se muze jet dlouho bez cary |
#define COUVEJ 70 // kolik se ma couvat po detekci diry |
#define CIKCAK 40 // kolik se ma jet cik/cak |
#define PRES_DIRU 35 // jak predpokladame velkou diru |
#define L 0 // left |
#define R 1 // right |
#define S 2 // straight |
#define STOP Off(ML + MR); Wait(10); // zastav 8 |
int movement; // smer minuleho pohybu |
int line; // na ktere strane byla detekovana cara |
int dira; // pocitadlo pro nalezeni preruseni cary |
int n; // pomocna promena pro cyklus FOR |
void cikcak() // Hledani cary |
{ |
n=CIKCAK/2; // poprve hned zatoc opacne, nez se jelo pred detekci diry |
switch(movement) // zmenime smer zataceni |
{ |
case L: |
FL; BR; // doprava |
movement=R; // poznamenej kam jedem |
line=L; // kdyz prejedem, tak bude cara vlevo |
break; |
case R: |
FR; BL; // doleva |
movement=L; // poznamenej kam jedem |
line=R; // kdyz prejedem, tak bude cara vpravo |
break; |
} |
while(true) // jed cik-cak, dokud nenajdes caru |
{ |
if ((THRESHOLD < RSENSOR) || (THRESHOLD < RSENSOR)) // je cara ? |
{ |
STOP; |
break; |
}; |
if (CIKCAK < n++) // Jedeme uz dost dlouho cik? Pak jed cak. |
{ |
n=0; |
STOP; |
switch(movement) // zmenime smer zataceni |
{ |
case L: |
FL; BR; // doprava |
movement=R; // poznamenej kam jedem |
line=L; // kdyz prejedem, tak bude cara vlevo |
break; |
case R: |
FR; BL; // doleva |
movement=L; // poznamenej kam jedem |
line=R; // kdyz prejedem, tak bude cara vpravo |
break; |
} |
} |
} |
} |
task main() |
{ |
PlaySound (SOUND_DOUBLE_BEEP); |
Wait(100); // 1s |
SetSensor(RSENSOR,SENSOR_LIGHT); // senzor na caru modry pravy |
SetSensor(LSENSOR,SENSOR_LIGHT); // senzor na caru modry levy |
SetSensor(BUMPER,SENSOR_TOUCH); // sensor na prekazku |
SetPower (ML,OUT_FULL); // vykon motoru |
SetPower (MR,OUT_FULL); |
movement=R; |
line=S; |
dira=0; |
cikcak(); // toc se, abys nasel caru |
FL; FR; // vpred |
// Sledovani cary |
while(true) |
{ |
if(BUMPER) // je cihla? |
{ |
PlaySound(SOUND_DOWN); |
objizdka(); // objed cihlu |
} |
if (THRESHOLD < RSENSOR) // Cara pod pravym senzorem |
{ |
dira=0; // nuluj pocitadlo diry, protoze jsme videli caru |
line=R; // zaznamenej, kdes videl caru |
FL; FR; // rovne |
continue; |
} |
if (THRESHOLD < LSENSOR) // Cara pod levym senzorem |
{ |
dira=0; // nuluj pocitadlo diry, protoze jsme videli caru |
line=L; // zaznamenej, kdes videl caru |
FL; FR; // rovne |
continue; |
} |
// oba senzory mimo caru |
if (0==dira) // v prvnim cyklu po ztrate cary zacneme zahybat |
// v ostatnich cyklech nedelame nic (pro urychleni snimani) |
{ |
switch(line) // kdyz nevidis caru, tak jed tam, kdes ji videl naposled |
{ |
case L: |
Off(ML); // doleva |
movement=L; // poznamenej kam jedes |
break; |
case R: |
Off(MR); // doprava |
movement=R; // poznamenej kam jedes |
break; |
}; |
dira++; // zvets pocitadlo diry, aby to pristi cyklus tudy neslo |
continue; // co nejrychleji se vrat na snimani cary |
} |
if (MEZERA < dira++) // nejedeme uz moc dlouho bez cary? |
{ |
dira=0; |
PlaySound (SOUND_FAST_UP); |
switch(movement) // kam se jelo ? |
{ |
case L: |
Off(ML); // couvej doprava |
BR; |
Wait(COUVEJ+10); |
movement=R; |
break; |
case R: |
BL; // couvej doleva |
Off(MR); |
Wait(COUVEJ); |
movement=L; |
break; |
} |
PlaySound(SOUND_CLICK); |
STOP; // konec couvani |
FL; FR; // rovne pres diru |
Wait(PRES_DIRU); |
STOP; |
cikcak(); // najdi caru |
FR; FL; // vpred |
} // dira |
} // while(true) |
} |
void objizdka() |
{ |
BL; BR; // zacouvej |
Wait(15); |
STOP; |
cikcak(); // vyrovnej se na caru |
cikcak(); // radeji 3x, aby se vyrovnaly setrvacne sily |
cikcak(); |
FL; BR; Wait(23); // vpravo |
STOP; |
FL; FR; Wait(65); // rovne |
STOP; |
BL; FR; Wait(23); // vlevo |
STOP; |
FL; FR; Wait(75); // rovne |
// STOP; |
// BL; FR; Wait(23); // vlevo |
// STOP; |
// FL; FR; |
// Wait(20); // kousek rovne |
// rovne, dokud nenarazis na caru |
while(THRESHOLD > LSENSOR); // levej senzor, protoze cihla je levo |
STOP; |
FL; BR; // toc se doprava, dokud nenarazis na caru |
while(THRESHOLD > RSENSOR); // pravej senzor, protoze cara je urcite vpravo |
STOP; |
line=L; // caru predpokladame vlevo, kdybysme ji prejeli |
dira=0; |
FL; FR; // vpred |
} |
/roboti/callis/Callis_R_rovne.nqc |
---|
0,0 → 1,203 |
// Soutezni robot pro Istrobot 2004 |
// Objeti cihly vpravo |
// $Archive: /Lego/Callis/Callis_R.nqc $ |
// $Date: 27.04.04 20:52 $ |
// $Revision: 3 $ |
#define THRESHOLD 50 // rozhodovaci uroven mezi cernou a bilou |
#define ML OUT_A // Motory |
#define MR OUT_C |
#define FL OnFwd(ML) // Vpred |
#define FR OnRev(MR) |
#define BL OnRev(ML) // Vzad |
#define BR OnFwd(MR) |
#define RSENSOR SENSOR_3 // Senzory na caru |
#define LSENSOR SENSOR_1 |
#define BUMPER SENSOR_2 // Senzor na cihlu |
#define MEZERA 38 // jak se muze jet dlouho bez cary |
#define COUVEJ 70 // kolik se ma couvat po detekci diry |
#define CIKCAK 40 // kolik se ma jet cik/cak |
#define PRES_DIRU 35 // jak predpokladame velkou diru |
#define L 0 // left |
#define R 1 // right |
#define S 2 // straight |
#define STOP Off(ML + MR); Wait(10); // zastav 8 |
int movement; // smer minuleho pohybu |
int line; // na ktere strane byla detekovana cara |
int dira; // pocitadlo pro nalezeni preruseni cary |
int n; // pomocna promena pro cyklus FOR |
void cikcak() // Hledani cary |
{ |
n=CIKCAK/2; // poprve hned zatoc opacne, nez se jelo pred detekci diry |
switch(movement) // zmenime smer zataceni |
{ |
case L: |
FL; BR; // doprava |
movement=R; // poznamenej kam jedem |
line=L; // kdyz prejedem, tak bude cara vlevo |
break; |
case R: |
FR; BL; // doleva |
movement=L; // poznamenej kam jedem |
line=R; // kdyz prejedem, tak bude cara vpravo |
break; |
} |
while(true) // jed cik-cak, dokud nenajdes caru |
{ |
if ((THRESHOLD < RSENSOR) || (THRESHOLD < RSENSOR)) // je cara ? |
{ |
STOP; |
break; |
}; |
if (CIKCAK < n++) // Jedeme uz dost dlouho cik? Pak jed cak. |
{ |
n=0; |
STOP; |
switch(movement) // zmenime smer zataceni |
{ |
case L: |
FL; BR; // doprava |
movement=R; // poznamenej kam jedem |
line=L; // kdyz prejedem, tak bude cara vlevo |
break; |
case R: |
FR; BL; // doleva |
movement=L; // poznamenej kam jedem |
line=R; // kdyz prejedem, tak bude cara vpravo |
break; |
} |
} |
} |
} |
task main() |
{ |
PlaySound (SOUND_DOUBLE_BEEP); |
Wait(100); // 1s |
SetSensor(RSENSOR,SENSOR_LIGHT); // senzor na caru modry pravy |
SetSensor(LSENSOR,SENSOR_LIGHT); // senzor na caru modry levy |
SetSensor(BUMPER,SENSOR_TOUCH); // sensor na prekazku |
SetPower (ML,OUT_FULL); // vykon motoru |
SetPower (MR,OUT_FULL); |
movement=R; |
line=S; |
dira=0; |
cikcak(); // toc se, abys nasel caru |
FL; FR; // vpred |
// Sledovani cary |
while(true) |
{ |
if(BUMPER) // je cihla? |
{ |
PlaySound(SOUND_DOWN); |
objizdka(); // objed cihlu |
} |
if (THRESHOLD < RSENSOR) // Cara pod pravym senzorem |
{ |
dira=0; // nuluj pocitadlo diry, protoze jsme videli caru |
line=R; // zaznamenej, kdes videl caru |
FL; FR; // rovne |
continue; |
} |
if (THRESHOLD < LSENSOR) // Cara pod levym senzorem |
{ |
dira=0; // nuluj pocitadlo diry, protoze jsme videli caru |
line=L; // zaznamenej, kdes videl caru |
FL; FR; // rovne |
continue; |
} |
// oba senzory mimo caru |
if (0==dira) // v prvnim cyklu po ztrate cary zacneme zahybat |
// v ostatnich cyklech nedelame nic (pro urychleni snimani) |
{ |
switch(line) // kdyz nevidis caru, tak jed tam, kdes ji videl naposled |
{ |
case L: |
Off(ML); // doleva |
movement=L; // poznamenej kam jedes |
break; |
case R: |
Off(MR); // doprava |
movement=R; // poznamenej kam jedes |
break; |
}; |
dira++; // zvets pocitadlo diry, aby to pristi cyklus tudy neslo |
continue; // co nejrychleji se vrat na snimani cary |
} |
if (MEZERA < dira++) // nejedeme uz moc dlouho bez cary? |
{ |
dira=0; |
PlaySound (SOUND_FAST_UP); |
switch(movement) // kam se jelo ? |
{ |
case L: |
Off(ML); // couvej doprava |
BR; |
Wait(COUVEJ+10); |
movement=R; |
break; |
case R: |
BL; // couvej doleva |
Off(MR); |
Wait(COUVEJ); |
movement=L; |
break; |
} |
PlaySound(SOUND_CLICK); |
STOP; // konec couvani |
FL; FR; // rovne pres diru |
Wait(PRES_DIRU); |
STOP; |
cikcak(); // najdi caru |
FR; FL; // vpred |
} // dira |
} // while(true) |
} |
void objizdka() |
{ |
BL; BR; // zacouvej |
Wait(15); |
STOP; |
cikcak(); // vyrovnej se na caru |
cikcak(); // radeji 3x, aby se vyrovnaly setrvacne sily |
cikcak(); |
FL; BR; Wait(23); // vpravo |
STOP; |
FL; FR; Wait(60); // rovne |
STOP; |
BL; FR; Wait(23); // vlevo |
STOP; |
FL; FR; Wait(75); // rovne |
// STOP; |
// BL; FR; Wait(23); // vlevo |
// STOP; |
// FL; FR; |
// Wait(20); // kousek rovne |
// rovne, dokud nenarazis na caru |
while(THRESHOLD > LSENSOR); // levej senzor, protoze cihla je levo |
STOP; |
FL; BR; // toc se doprava, dokud nenarazis na caru |
while(THRESHOLD > RSENSOR); // pravej senzor, protoze cara je urcite vpravo |
STOP; |
line=L; // caru predpokladame vlevo, kdybysme ji prejeli |
dira=0; |
FL; FR; // vpred |
} |
/roboti/callis/Callis_log.bak |
---|
0,0 → 1,173 |
// Soutezni robot pro Istrobot 2004 |
// $Archive: /Lego/Callis/Callis_log.nqc $ |
// $Date: 9.05.04 6:34 $ |
// $Revision: 1 $ |
#define THRESHOLD 50 // rozhodovaci uroven mezi cernou a bilou |
#define ML OUT_A // Motory |
#define MR OUT_C |
#define FL OnFwd(ML) // Vpred |
#define FR OnRev(MR) |
#define BL OnRev(ML) // Vzad |
#define BR OnFwd(MR) |
#define RSENSOR SENSOR_3 // Senzory na caru |
#define LSENSOR SENSOR_1 |
#define BUMPER SENSOR_2 // Senzor na cihlu |
#define MEZERA 38 // jak se muze jet dlouho bez cary |
#define COUVEJ 70 // kolik se ma couvat po detekci diry |
#define CIKCAK 40 // kolik se ma jet cik/cak |
#define PRES_DIRU 35 // jak predpokladame velkou diru |
#define L 0 // left |
#define R 1 // right |
#define S 2 // straight |
#define STOP Off(ML + MR); Wait(10); // zastav 8 |
int movement; // smer minuleho pohybu |
int line; // na ktere strane byla detekovana cara |
int dira; // pocitadlo pro nalezeni preruseni cary |
int n; // pomocna promena pro cyklus FOR |
task main() |
{ |
PlaySound (SOUND_DOUBLE_BEEP); |
Wait(100); // 1s |
SetSensor(RSENSOR,SENSOR_LIGHT); // senzor na caru modry pravy |
SetSensor(LSENSOR,SENSOR_LIGHT); // senzor na caru modry levy |
SetSensor(BUMPER,SENSOR_TOUCH); // sensor na prekazku |
SetEvent(L, LSENSOR, EVENT_TYPE_HIGH); |
SetEvent(R, RSENSOR, EVENT_TYPE_HIGH); |
SetPower (ML,OUT_HALF); // vykon motoru |
SetPower (MR,OUT_HALF); |
movement=R; |
line=S; |
dira=0; |
cikcak(); // toc se, abys nasel caru |
FL; FR; // vpred |
CreateDatalog(1000); |
// Sledovani cary |
while(true) |
{ |
monitor( EVENT_MASK(L) | EVENT_MASK(R) ) |
{ |
FL; FR; // rovne |
} |
catch (EVENT_MASK(L)) |
{ |
line=L; // zaznamenej, kdes videl caru |
n=-dira; |
AddToDatalog(n); |
dira=0; // nuluj pocitadlo diry, protoze jsme videli caru |
} |
catch (EVENT_MASK(R)) |
{ |
line=R; // zaznamenej, kdes videl caru |
n=dira; |
AddToDatalog(n); |
dira=0; // nuluj pocitadlo diry, protoze jsme videli caru |
} |
// oba senzory mimo caru |
if (0==dira) // v prvnim cyklu po ztrate cary zacneme zahybat |
// v ostatnich cyklech nedelame nic (pro urychleni snimani) |
{ |
switch(line) // kdyz nevidis caru, tak jed tam, kdes ji videl naposled |
{ |
case L: |
Off(ML); // doleva |
movement=L; // poznamenej kam jedes |
break; |
case R: |
Off(MR); // doprava |
movement=R; // poznamenej kam jedes |
break; |
}; |
dira++; // zvets pocitadlo diry, aby to pristi cyklus tudy neslo |
continue; // co nejrychleji se vrat na snimani cary |
} |
if (MEZERA < dira++) // nejedeme uz moc dlouho bez cary? |
{ |
dira=0; |
PlaySound (SOUND_FAST_UP); |
switch(movement) // kam se jelo ? |
{ |
case L: |
Off(ML); // couvej doprava |
BR; |
Wait(COUVEJ+10); |
movement=R; |
break; |
case R: |
BL; // couvej doleva |
Off(MR); |
Wait(COUVEJ); |
movement=L; |
break; |
} |
PlaySound(SOUND_CLICK); |
STOP; // konec couvani |
FL; FR; // rovne pres diru |
Wait(PRES_DIRU); |
STOP; |
cikcak(); // najdi caru |
FR; FL; // vpred |
} // dira |
} // while(true) |
} |
void cikcak() // Hledani cary |
{ |
n=CIKCAK/2; // poprve hned zatoc opacne, nez se jelo pred detekci diry |
switch(movement) // zmenime smer zataceni |
{ |
case L: |
FL; BR; // doprava |
movement=R; // poznamenej kam jedem |
line=L; // kdyz prejedem, tak bude cara vlevo |
break; |
case R: |
FR; BL; // doleva |
movement=L; // poznamenej kam jedem |
line=R; // kdyz prejedem, tak bude cara vpravo |
break; |
} |
while(true) // jed cik-cak, dokud nenajdes caru |
{ |
if ((THRESHOLD < RSENSOR) || (THRESHOLD < RSENSOR)) // je cara ? |
{ |
STOP; |
break; |
}; |
if (CIKCAK < n++) // Jedeme uz dost dlouho cik? Pak jed cak. |
{ |
n=0; |
STOP; |
switch(movement) // zmenime smer zataceni |
{ |
case L: |
FL; BR; // doprava |
movement=R; // poznamenej kam jedem |
line=L; // kdyz prejedem, tak bude cara vlevo |
break; |
case R: |
FR; BL; // doleva |
movement=L; // poznamenej kam jedem |
line=R; // kdyz prejedem, tak bude cara vpravo |
break; |
} |
} |
} |
} |
/roboti/callis/Callis_log.nqc |
---|
0,0 → 1,184 |
// Soutezni robot pro Istrobot 2004 |
// $Archive: /Lego/Callis/Callis_log.nqc $ |
// $Date: 9.05.04 6:34 $ |
// $Revision: 1 $ |
#define THRESHOLD 50 // rozhodovaci uroven mezi cernou a bilou |
#define ML OUT_A // Motory |
#define MR OUT_C |
#define FL OnFwd(ML) // Vpred |
#define FR OnRev(MR) |
#define BL OnRev(ML) // Vzad |
#define BR OnFwd(MR) |
#define RSENSOR SENSOR_3 // Senzory na caru |
#define LSENSOR SENSOR_1 |
#define BUMPER SENSOR_2 // Senzor na cihlu |
#define MEZERA 38 // jak se muze jet dlouho bez cary |
#define COUVEJ 70 // kolik se ma couvat po detekci diry |
#define CIKCAK 40 // kolik se ma jet cik/cak |
#define PRES_DIRU 35 // jak predpokladame velkou diru |
#define L 0 // left |
#define R 1 // right |
#define S 2 // straight |
#define STOP Off(ML + MR); Wait(10); // zastav 8 |
int movement; // smer minuleho pohybu |
int line; // na ktere strane byla detekovana cara |
int dira; // pocitadlo pro nalezeni preruseni cary |
int n; // pomocna promena pro cyklus FOR |
task main() |
{ |
PlaySound (SOUND_DOUBLE_BEEP); |
Wait(100); // 1s |
SetSensor(RSENSOR,SENSOR_LIGHT); // senzor na caru modry pravy |
SetSensor(LSENSOR,SENSOR_LIGHT); // senzor na caru modry levy |
SetSensor(BUMPER,SENSOR_TOUCH); // sensor na prekazku |
SetEvent(L, LSENSOR, EVENT_TYPE_PRESSED); |
SetEvent(R, RSENSOR, EVENT_TYPE_PRESSED); |
SetPower (ML,OUT_HALF); // vykon motoru |
SetPower (MR,OUT_HALF); |
movement=R; |
line=S; |
dira=0; |
// cikcak(); // toc se, abys nasel caru |
//!!! FL; FR; // vpred |
CreateDatalog(1000); |
// Sledovani cary |
while(true) |
{ |
monitor( EVENT_MASK(L) | EVENT_MASK(R) ) |
{ |
//!!! FL; FR; // rovne |
Wait(1); |
} |
catch (EVENT_MASK(L)) |
{ |
SetUserDisplay(2, 1); |
PlaySound(SOUND_CLICK); |
Wait(50); |
line=L; // zaznamenej, kdes videl caru |
n=-dira; |
// AddToDatalog(n); |
dira=0; // nuluj pocitadlo diry, protoze jsme videli caru |
} |
catch (EVENT_MASK(R)) |
{ |
SetUserDisplay(3, 1); |
PlaySound(SOUND_LOW_BEEP); |
Wait(50); |
line=R; // zaznamenej, kdes videl caru |
n=dira; |
// AddToDatalog(n); |
dira=0; // nuluj pocitadlo diry, protoze jsme videli caru |
} |
SetUserDisplay(1, 1); |
Wait(50); |
/* |
// oba senzory mimo caru |
if (0==dira) // v prvnim cyklu po ztrate cary zacneme zahybat |
// v ostatnich cyklech nedelame nic (pro urychleni snimani) |
{ |
switch(line) // kdyz nevidis caru, tak jed tam, kdes ji videl naposled |
{ |
case L: |
Off(ML); // doleva |
movement=L; // poznamenej kam jedes |
break; |
case R: |
Off(MR); // doprava |
movement=R; // poznamenej kam jedes |
break; |
}; |
dira++; // zvets pocitadlo diry, aby to pristi cyklus tudy neslo |
continue; // co nejrychleji se vrat na snimani cary |
} |
if (MEZERA < dira++) // nejedeme uz moc dlouho bez cary? |
{ |
dira=0; |
PlaySound (SOUND_FAST_UP); |
switch(movement) // kam se jelo ? |
{ |
case L: |
Off(ML); // couvej doprava |
BR; |
Wait(COUVEJ+10); |
movement=R; |
break; |
case R: |
BL; // couvej doleva |
Off(MR); |
Wait(COUVEJ); |
movement=L; |
break; |
} |
PlaySound(SOUND_CLICK); |
STOP; // konec couvani |
FL; FR; // rovne pres diru |
Wait(PRES_DIRU); |
STOP; |
cikcak(); // najdi caru |
FR; FL; // vpred |
} // dira |
*/ |
} // while(true) |
} |
void cikcak() // Hledani cary |
{ |
n=CIKCAK/2; // poprve hned zatoc opacne, nez se jelo pred detekci diry |
switch(movement) // zmenime smer zataceni |
{ |
case L: |
FL; BR; // doprava |
movement=R; // poznamenej kam jedem |
line=L; // kdyz prejedem, tak bude cara vlevo |
break; |
case R: |
FR; BL; // doleva |
movement=L; // poznamenej kam jedem |
line=R; // kdyz prejedem, tak bude cara vpravo |
break; |
} |
while(true) // jed cik-cak, dokud nenajdes caru |
{ |
if ((THRESHOLD < RSENSOR) || (THRESHOLD < RSENSOR)) // je cara ? |
{ |
STOP; |
break; |
}; |
if (CIKCAK < n++) // Jedeme uz dost dlouho cik? Pak jed cak. |
{ |
n=0; |
STOP; |
switch(movement) // zmenime smer zataceni |
{ |
case L: |
FL; BR; // doprava |
movement=R; // poznamenej kam jedem |
line=L; // kdyz prejedem, tak bude cara vlevo |
break; |
case R: |
FR; BL; // doleva |
movement=L; // poznamenej kam jedem |
line=R; // kdyz prejedem, tak bude cara vpravo |
break; |
} |
} |
} |
} |
/roboti/callis/FAQ.htm |
---|
0,0 → 1,8 |
<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0 Frameset//EN"> |
<!-- saved from url=(0032)http://www.robotika.sk/mains.htm --> |
<HTML><HEAD><TITLE>Slovenská verzia</TITLE> |
<META http-equiv=Content-Type content="text/html; charset=iso-8859-2"> |
<META content="MSHTML 6.00.2800.1400" name=GENERATOR></HEAD><FRAMESET border=0 |
frameSpacing=0 frameBorder=0 cols=137,*><FRAME name=menu |
src="FAQ_soubory/menus.htm" frameBorder=0 noResize scrolling=no><FRAME name=telo |
src="FAQ_soubory/poradna.htm" frameBorder=0 noResize></FRAMESET></HTML> |
/roboti/callis/FAQ_soubory/menus.htm |
---|
0,0 → 1,99 |
<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0 Transitional//EN"> |
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<HTML><HEAD><TITLE></TITLE> |
<META http-equiv=Content-Type content="text/html; charset=windows-1250"> |
<META content="MSHTML 6.00.2800.1400" name=GENERATOR> |
<SCRIPT language=JavaScript> |
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fw_menu_0.hideOnMouseOut=true; |
fw_menu_0.writeMenus(); |
} // fwLoadMenus() |
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</SCRIPT> |
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<TD><A onmouseover="window.status='';return true" |
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--> |
<TR> |
<TD><A onmouseover="window.status='';return true" |
href="http://www.robotika.sk/holls/2003/index.html" target=telo><IMG |
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href="http://www.robotika.sk/kontakt.htm" target=telo><IMG height=40 |
alt=Kontakt src="menus_soubory/kon.jpg" width=135 border=0></A></TD></TR> |
<TR> |
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<TD><IMG height=15 alt="" src="menus_soubory/fuga.jpg" width=135 |
border=0></TD></TR> |
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/roboti/callis/FAQ_soubory/menus_soubory/novinky.jpg |
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/roboti/callis/FAQ_soubory/poradna.htm |
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0,0 → 1,438 |
<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0 Transitional//EN"> |
<!-- saved from url=(0043)http://www.robotika.sk/contest/poradna.html --> |
<HTML><HEAD><TITLE>Istrobot - poradna</TITLE> |
<META http-equiv=Content-Type content="text/html; charset=windows-1250"><LINK |
title="Orange Style for Istrobot" href="poradna_soubory/istrobot.css" |
type=text/css rel=StyleSheet> |
<META content="MSHTML 6.00.2800.1400" name=GENERATOR></HEAD> |
<BODY> |
<P align=center>[<A |
href="http://www.robotika.sk/contest/novinky.html">Novinky</A>] [<A |
href="http://www.robotika.sk/contest/pravidla.html">Pravidlá</A>] [<A |
href="http://www.robotika.sk/contest/roboti.html">Roboti</A>] [Poradòa] [<A |
href="http://www.robotika.sk/contest/archive/index.html">Archív</A>] |
<P><A name=top></P> |
<H1>Poradòa</H1></A> |
<P>Na tejto stránke nájdete odpovede od naich odborníkov na najèastejie |
otázky, ktoré nám v súvislosti so súaou posielate. Odpovede na technické |
otázky mono nájdete aj na niektorej z mnohých robotických stránok na internete, |
ktorá sa zaoberá podobnou problematikou. Tie najzaujímavejie sme pre vás |
zozbierali na samostatnej stránke <A |
href="http://www.robotika.sk/contest/links.html">Odkazy</A>. |
<P><B>Obsah</B> |
<OL> |
<LI><A |
href="http://www.robotika.sk/contest/poradna.html#organizacne">Organizaèné |
problémy</A> |
<LI><A href="http://www.robotika.sk/contest/poradna.html#pravidla">Otázky |
týkajúce sa pravidiel</A> |
<LI><A href="http://www.robotika.sk/contest/poradna.html#technicke">Technické |
problémy</A> |
<LI><A href="http://www.robotika.sk/contest/poradna.html#hladame">H¾adáme |
odpoveï</A> |
<LI><A href="mailto:balogh@elf.stuba.sk">Posla otázku</A> </LI></OL> |
<P> |
<UL><A name=organizacne> |
<H2>Organizaèné problémy</H2></A> |
<LI><I>Preèo ISTROBOT?</I> |
<P>Latinský názov Bratislavy je Istropolis, preto Istro + robot. Okrem toho je |
to jediná takáto súa v bývalých "East European" krajinách, take tie |
<I>Eastrobot</I> [ístrobot]. |
<HR> |
<P></P> |
<LI><I>Na internete sme nasli program a je tam na stredu pisane: Prezentacia |
na Cofaxe. Co to presne znamena? Velmi radi by sme tam isli, ale ako by to |
bolo z ubytovanim?</I> |
<P>To znamená, e generálny sponzor Datalan, by rád vo svojomo stánku na |
výstave Cofax ukázal nejakých robotov. Ak máte záujem predvies sa aj tu, |
dajte mi vedie a zabzpeèíme predåenie ubytovania a stravy a vetko ostatné. |
Nejaký èas budte predvádza a potom sa samozrejme môete poobzera aj po |
výstave. |
<P></P> |
<LI><I>Robota asi nesthnem dokonèi, preto radej neprídem.</I> |
<P>Ja by som na Vaom mieste nehádzal hneï flintu do ita. Aj vlani priiel |
jeden úèastník, ktorý napokon ani neodtartoval. Podstatné je prís a skúsi. |
Ak máte kontrukciu hotovú, potom neverím, e by ste nieèo nedoprogramovali. |
<P>Deò pred súaou bude dráha k dispozícii na testovanie, take ak by ste |
prili na dva dni, mono by sa ete velièo dalo odladi. Nemusíte vyhra, ale |
aspoò to skúsi, aj keï budete posledný, svet sa nezrúti. Aspoò ale získate |
skúsenosti a na budúci rok vyhráte ;-) |
<P> |
<HR> |
<LI><I>Potøebuji vìdìt, co ve je hrazeno a co ve si musím hradit sám. Buïte |
tak laskav a toto mi sdìlte.</I> |
<P>Organizátori vám preplatia cestovné, ubytovanie a zrejme aj stravu. Jediný |
problém môe by s cestovným, neviem urèite, èi ho preplatíme v Kè, alebo len |
Sk. |
<P> |
<HR> |
<LI><I>Môem jedného robota prihlási do viacerých kategórií?</I> |
<P>Áno, môete. |
<P> |
<HR> |
<LI><I>Budeme si môc dráhu vyskúa?</I> |
<P>Áno, dráhy sú prístupné verejnosti. Nie je na nich ale súaný tvar dráhy. |
Presný pravidelný termín bude uvedený neskôr, zatia¾ pod¾a dohody. |
<P>Dráha bude okrem toho k dispozícii na testovanie deò pred súaou, take ak |
prídete na oba dni, mono ete velièo doladíte. |
<P>Bratislavèania majú výhodu, môu zaèa testova u dnes. |
<P> |
<HR> |
<HR> |
<LI><I>Da sa zabezpecit nejake lacne ubytovanie?</I> |
<P>Ano, malo by byt zadarmo (ale len pre sutaziacich, nie pre vsetkych co vas |
pridu povzbudzovat). Potom este mozem zohnat nejake ubytko na intraku, stoji |
okolo 250,-Sk/noc, ale to bude jasnejsie az v marci. |
<P> |
<HR> |
<LI><I>Mohli by ste poslat nejaku oficialnu pozvanku na skolu, aby sme sa |
mohli uvolnit z vyucovania kvoli testovaniu?</I> |
<P>Hm. Ak vam staci papierova verzia toho co je na www.robotika.sk tak to |
mozem poslat, (napiste mi adresu kam), pripadne si sami nieco napiste, poslite |
mi to a ja tam dam peciatku a take nezmysly. |
<P> |
<HR> |
<LI><I>Da sa dohodnut na termine testovania?</I> |
<P>Da. |
<P> |
<HR> |
<LI><I>Kolko ludi si mozme doniest do publika(viete ked vyhra zavisi od sily |
potlesku)?</I> |
<P>Kolko chcete, kapacita miestnosti je 300 ludi ;-) |
<P><A name=pravidla></P> |
<H2>Otázky týkajúce sa pravidiel</H2></A> |
<P></P> |
<LI><I>Bude svietit priame slnecne svetlo na drahu?</I> |
<P>Pravidlá takúto situáciu nevyluèujú. Ale keïe súa sa bude kona v |
posluchárni, ktorá je dos tmavá a poèítame aj s premietaním na ve¾koplonú |
obrazovku, zrejme do miestnosti ve¾a slnka neprenikne. |
<P> |
<HR> |
<LI><I>Dale v popisu trati uvadite, ze se budou vyskytovat ruzne prekazky, |
zajima me, jake ruzne prekazky a hlavne s jakym povrchem, jake barvy a |
materialu. Dale preruseni drahy bude na jakou vzdalenost a zda druhy konec |
preruseni bude v ose prvniho preruseni.</I> |
<P>To u by som Vám mohol rovno nakresli súanú dráhu ;-) |
<P>Dráha vak nebude príli odliná od minulého roèníka (na stránke je jej |
obrázok). Prekáku si predstavte ako tehlu (cihlu), alebo drevený palík. |
<P>Farba a rozmery sa môu líi, take sa na ne nespoliehajte. O tom je práve |
súa, e neviete celkom vetko a robot sa tomu musí prispôsobi... |
<P> |
<HR> |
<LI><I>Co sa povazuje za nakladny robot?</I> |
<P>To posudi porota. Nie je to ktovieaka definicia, ale musi vam stacit. Ak by |
sme dali napriklad cenove obmedzenie, tazko by sa dokazovalo. Toto pravidlo je |
urcene hlavne pre tych, ktori mozu vyuzivat relativne neobmedzene zdroje. |
Napriklad ak niekto pracuje (alebo brigaduje) v pocitacovej firme, nie je |
problem "pozicat" si trebars aj priemyselnu kameru a jednodoskovy priemyselny |
pocitac. Takym ludom by mali porotcovia "dohovorit" aby radsej robota |
predviedli vo Volnej jazde. |
<P>Aj preto je dobre, aby ste mi cim skorej zacali posielat nejake popisy, |
nakresy a fotky robotov, aby sme pripadne nejasnosti vyriesili cim skorej, nie |
az na sutazi. |
<P> |
<HR> |
<LI><I>moze byt riadeny vstavanou 486 (teda taka 486 na kolieskach)</I> |
<P>Ano, moze. Ak to nie je nahodou priemyselna verzia, pripadne DIMM PC |
verzia, lebo to by asi spadalo do tej kategorie "prilis nakladny". Kde by ste |
na to asi vzali? |
<P> |
<HR> |
<LI><I>Co znamena pojem tehla na drahe (max rozmery, vaha, material)?</I> |
<P><A |
href="http://www.nr.psg.sk/prezenta/wienerberger/vyrobky.html#part9">Toto je |
tehla.</A>. |
<P> |
<HR> |
<LI><I>mozu byt v tunely zatacky?</I> |
<P>Preco nie, dobry napad. |
<P> |
<HR> |
<LI><I>ake su rozmery tunelov?</I> |
<P>A co vlastne bude robit vas robot? ;-) |
<P> |
<HR> |
<LI><I>Moze si robot v kategorii pathfollower pri prvom a dalsom pokuse |
zapamatat doteraz prejdenu drahu (teda, ci je mozne trasu najprv prejst |
pomalicky a poznacit si vsetky prekazky, a potom pri druhom pokuse len tak |
preletiet)? lebo to nie je v rozpore s pravidlami na stranke</I> |
<P>Ano, moze. Dokonca je to tam vyslovne uvedene. |
<P> |
<HR> |
<LI><I>odrazaju prekazky na drahe ultrazvuky?</I> |
<P>Ano. |
<P> |
<HR> |
<LI><I>Ake su podmienky na prerusene miesto?</I> |
<P>Ziadne. Akurat ze nebude prilis dlhe. |
<P> |
<HR> |
<LI><I>K tej volnej jazde, naozaj vitazstvo zavisi iba od sily potlesku ?</I> |
<P>Ano. |
<P> |
<HR> |
<LI><I>Robot sutaziaci v kategorii volna jazda musi mat tiez maximalne rozmery |
25x25x25 cm ? V ramci volnej jazdy moze byt dialkovo riadeny ?</I> |
<P>Nie. Ano. |
<P> |
<HR> |
<LI><I>Mozem sa viacerych rocnikov sutaze zucasnit s tym istym robotom ?</I> |
<P>Ano. |
<P> |
<HR> |
<LI><I>Moze robot opustit nahodou (napr. chyba senzorov) na moment drahu a |
hned ju najst a pokracovat v kole, alebo bude diskvalifikovany.</I> |
<P>Zrejme ano, zalezi co povie porota. |
<P> |
<HR> |
<LI><I>Co vsetko na trati sa da poskodit ? Vydrzia tehlicky aj naraz maleho |
"buldozera" ?</I> |
<P>Zoberte niekde normalnu tehlu a skuste. |
<P> |
<HR> |
<LI><I>Aka podrobna ma byt dokumentacia ?</I> |
<P>Dost. |
<P> |
<HR> |
<LI><I>Pred prekazkou je, alebo nie je prerusena ciara ?</I> |
<P>Nie je. |
<P> |
<HR> |
<LI><I>Cas medzi pokusmi mozem pouzit aj na manualne naprogramovanie prip. |
upravenie uz zaznamenanej drahy (robotom) ?</I> |
<P>V ziadnom pripade! |
<P> |
<HR> |
<LI><I>Kedy je mozne otestovat drahu a je mozne v mieste testovania pozicanie |
PC monitora ?</I> |
<P>Ked sa dohodneme, najblizsi termin je uvedeny v <A |
href="http://www.robotika.sk/contest/novinky.htm">Novinkach</A>. Monitor sa da |
pozicat. |
<P> |
<HR> |
<LI><I>Moze sa stat, ked nas robot bude napr. 24 cm siroky a pri jazde po |
rovnej ciare ma mozny rozkmit 2 cm do stran, ze neprejde tunelom, resp. ze ho |
poskodi a bude diskvalifikovany ? </I> |
<P>Nebude az taky maly... |
<P> |
<HR> |
<LI><I>Pred tunelmi bude rovna draha, alebo moze byt tunel na zakrute ?</I> |
<P>Nechajte sa prekvapit. |
<P> |
<HR> |
<LI><I>Kto bude v publiku ?</I> |
<P>Vselikto. Koho si privediete. |
<P> |
<HR> |
<LI><I>Moze byt na trati viacej robotov naraz?</I> |
<P>Kde by sa tam vzali? |
<P> |
<HR> |
<LI><I>Ak ano mozme im skodit?</I> |
<P>Ak nahodou ano, tak mozete. |
<P> |
<HR> |
<LI><I>Ake su toho roku ceny?</I> |
<P>Dobre ;-) |
<P> |
<HR> |
<LI><I>Jaky tvar bude mit zaèátek závodní dráhy? V pravidlech na www je cosi o |
kruhu ze kter`ho robot vyjí¾dí, ale na fotkách z loòsk`ho roku je jen èára, |
která prost^ zaène. Jak~ start tedy bude letos?</I> |
<P>Start je vzdy rovnaky. Ten kruh tam nemoze byt namalovany plnou ciarou, |
lebo robot by samozrejme chytil "stopu" a jazdil dokola. Preto je ten kruh |
mysleny. V skutocnosti je vyznaceny slabou ceruzkou, takze na fotke ho nie je |
vidno. |
<P> |
<HR> |
<LI><I>Bude mo¾no robata postavit pcímo na èáru, nebo musí b~t "vypuÒt^n" na |
bíl` ploÒe a musí si èáru najít?</I> |
<P>Idealny start vyzera tak, ze ho umiestnite do toho pomysleneho kruhu, |
napriklad kolmo k ciare, on si ju najde a pusti sa po nej. Ale porota vlani |
nemala namietky ani voci priamemu postaveniu na ciaru. KEdze sa tam este |
nemeria cas, nie je to az take podstatne. |
<P>Asi vas niektore odpovede neuspokojili, ale o tom je sutaz, ze robot sa |
musi aj trocha samostatne rozhodovat. Ak by ste vedeli rozmery prekazok, |
tunelov atd. tak mozete vsetko vopred naprogramovat a uz to nie je autonomny |
robot. Takze sa nechajte prekvapit. |
<P align=right><I>Richard Balogh</I> |
<P><BR> |
<P><A name=technicke></P> |
<H2>Technické problémy</H2></A> |
<P></P> |
<LI><I>Nemame celkom jasno v oblasti IR snimacov, chceli by sme ich pouzit na |
sledovanie drahy, a nevieme aky pocet tychto snimacov je potrebne pouzit, a |
ako ich vhodne vzajomne umiestnit.</I> |
<P>To, aky pocet snimacou pouzijete je vasa vec. Potrebujete aspon dva, aby |
ste mohli sledovat odchylku vlavo, vpravo. Niektori pouzivaju rad (6-8) |
snimacov a maju presnejsiu informaciu - skratka to musite vymysliet, o tom je |
prave sutaz. |
<P>Podrobnejie odpovedá <A href="mailto:gacho@nov1.kar.elf.stuba.sk">Ing. |
Juraj Gacho:</A><BR> |
<P>No, co sa tyka drahy, bude to cierna ciara na bielom podklade. Ked na tu |
drahu niecim zasvietite, tak z toho cierneho povrchu sa bude odrazat menej |
svetla ako z bieleho - a to sa vlastne bude vyuzivat. V minulom rocniku mali |
vsetky zucastnene roboty (aspon myslim) pouzite 2 snimace, jeden z nich |
sledoval ciaru a jeden bielu podlahu vedla ciary. Z toho vyplyval aj |
algoritmus riadenia, kedy cielom riadenia bolo chodit tak, aby jeden snimac |
isiel ponad biele pasmo (podlahu) a jeden ponad cierne pasmo (ciaru). Daju sa |
pouzit fototranzistory, fotodiody alebo fotorezistory, alebo je mozne pouzit |
aj integrovane snimace-zvacsa IR. (v principe je jedno, ci robite s viditelnym |
svetlom, alebo infracervenym). Je vhodne zabezpecit, aby bocne svetlo |
nesposobovalo problemy (nejako odtienit snimace a mat vlastne osvetlenie. Ak |
nieco o takychto snimacoch viete, tak vam odporucam pozriet na internete |
nejake katalogove listy, alebo skocit niekde do obchodu so suciastkami a |
porozpravat sa s predavacom, alebo mozete skocit za niekym na fakulte, kto sa |
tym zaobera. Mozno by ste nieco nasli aj v casopise <A |
href="http://www.atpjournal.sk/">AT&P Journal</A>, kde uz viac ako rok |
bezi serial Senzory v automatizacii (autor - Miroslav Toman). Niekde v |
kniznici by ste to hadam nasli. |
<P>Co sa poctu tyka, je potrebne, aby ste vedeli kde je ciara a ked ciaru |
stratite, tak aby ste vedeli, ze sa nachadzate napr. vlavo alebo vpravo od |
ciary. Najjednoduchsie je riesenie s dvomi snimacmi, ako som uz popisal hore. |
Ale tieto by nemali byt od seba vzdialene viac ako je sirka ciary, aby sa |
nestalo, ze obidvomi snimacmi idete ponad bielu podlahu a nebudete vediet, kde |
je ciara, ked bude medzi snimacmi. Ale mozete mat samozrejme aj viac snimacov |
a potom budete vediet, ako daleko je ciara napr. od stredu robota... |
<P> |
<HR> |
<LI><I>Je vhodne na detekciu prekazky pouzit IR snimac, alebo dotykovy snimac? |
Nestrati robot pri detekcii prekazky pri pouziti dotykoveho snimaca viac casu |
tym, ze musi prist az k nej a dotknut sa jej? V pripade pouzitia IR snimaca by |
robot prekazku zaregistroval skor a tiez by ju mohol zacat skor obchadzat?</I> |
<P>Samozrejme, ze pri pouziti bezdotykoveh snimaca (napr IR) vyzera aj |
spravanie sa robota "inteligentnejsie", ale dotykovy snimac je jednoduchsi. Je |
pravda aj to, ze ked prekazku zaregistruje skor, moze ju obist s mensou |
casovou stratou. No mozno sa hodi pouzit kombinaciu - aj IR aj dotykovy snimac |
na prekazku. |
<P>Tuto uvahu musite vyriesit sami. Mate teda pravdu, ze IR by mohlo byt |
lepsie, zalezi vsak velmi aj na algoritme obchadzania. |
<P> |
<HR> |
<LI><I>Bolo by mozne zvysit rychlost pohybu robota pouzitim vacsieho napajania |
krokovych motorcekov (z disketovej mechaniky)?</I> |
<P>Nie. Od velkosti napatia (prudu) zavisi moment krokoveho motora (KM), ale |
rychlost KM v ustalenom stave zavisi od frekvencie impulzov. Zvacsenim |
napajania je mozne docielit, ako som uz spominal, vacsi moment a teda aj |
lepsie zrychlenie, ale na druhej strane sa zvysi spotreba. |
<P>Ale musim vas upozornit, ze krokace maju iste fyzikalne obmedzenia a tak |
ani frekvenciu nemozete zvysovat lubovolne. Od istej hodnoty motor tzv. |
vypadava, t.j. nestiha reagovat na vsetky impulzy, teda "straca krok". |
<P> |
<HR> |
<LI><I>Musime si zakladnu dosku, do ktorej osadime mikropocitac vyrobit sami, |
alebo pravidla povoluju pouzitie kupenej dosky?</I> |
<P>Mozete si kupit skoro vsetko, vylucene je len kupit celeho robota hotoveho. |
Su (na zapade) aj take stavebnice.... |
<P>V sutazi ide najma o pouzity algoritmus (teda riadiaci program) a vhodnu |
volbu snimacov. |
<P> |
<HR> |
<LI><I>Stavam robotka na tu sutaz mobilnych robotov a mam taky napad pohanat |
ho nie krokovymi motormi, ale jednosmernymi motormi( z teslackych |
magnetofonov). Celkom vy to islo, prevod by som mal porieseny, ale neviem ako |
sa to da riadit. Mam pouzit krokove motory, alebo mozem aj tie jednosmerne? A |
ako sa daju riadit jednosmerne motory?</I> |
<P>S jednosmernými motormi môu by isté problémy, pretoe ich rýchlos v |
ustálenom stave (teda v stave kedy sa u rýchlos nemení) závisí okrem |
vstupného napätia aj od zaaenia. V dynamickom reime (teda pri rozbiehaní a |
brzdení) závisí priebeh rýchlosti tie napr. od hmotnosti robota. Keïe |
hmotnos robota ani zaaenie motora nevieme vhodne ovplyvòova, môeme motor |
riadi zmenou napájacieho napätia. |
<P>Pouitie jednosmerných motorov na pohon robota závisí do istej miery aj od |
koncepcie podvozku robota. Ak má by robot poháòaný tak, e sa vyaduje, aby |
boli rýchlosti rôznych motorov v elanom pomere, (napr. by boli poháòané 2 |
kolesá kadé vlastným motorom, smer zatáèania robota by bol potom odvodený od |
vzájomného pomeru rýchlostí jdnotlivých motorov), pouitie jednosmerných |
motorov by som neodporúèal, lebo by boli potrebné snímaèe rýchlostí a |
dostatoène rýchle regulátory obidvoch motorov. V tomto prípade je pouitie |
krokových motorov omnoho jednoduchie. |
<P>Ak by vak bol na pohon robota pouitý iba jeden motor a zatáèanie robota |
by bolo rieené nejako inak, potom by sa dal jednosmerný motor poui napr. |
tak, e by sa vstupným napätím nastavila vhodná rýchlos. Keïe by sa |
zaaenie motora poèas jazdy menilo iba minimálne (nerovnosti na trati), |
otáèky motora by sa tie menili iba v malom rozsahu. |
<P>A ako zmeni napájacie napätie motora? Najjednoduchím rieením je zapoji |
vhodný odpor (potenciometer) do série s motorom. "Krajím" rieením je napája |
motor írkovo modulovaným napätím. Na generovanie riadiaceho signálu pre |
írkovú moduláciu je moné vyui nejaký oscilátor, alebo riadiaci procesor, |
pokia¾ disponuje írkovou moduláciou alebo pulzným generátorom. Riadiaci |
signál bude potom vstupom do spínacieho tranzistora, alebo, ak je potrebná |
reverzácia otáèok motora, do H-mostu, cez ktorý bude motor napájaný. |
<P>Na záver: Ak sa rozhodnete poui jednosmerné motory namiesto krokových, |
zvolili ste si nároènejiu, nie vak neschodnú cestu. Zaèiatoèníkom by som |
vak odporuèil poui krokové motory. |
<P>Juraj Gacho <TT><gacho@nov1.kar.elf.stuba.sk></TT> |
<HR> |
</LI></UL><A name=hladame> |
<H2>H¾adáme odpovede:</H2></A> |
<UL> |
<P> |
<LI><I>Kde by som naiel schémy zapojení robotov do súae?</I> |
<HR> |
</LI></UL>Na otázky odpovedali pracovníci a doktoranti Katedry automatizácie FEI |
STU. |
<P><BR> |
<P align=center>[<A |
href="http://www.robotika.sk/contest/novinky.html">Novinky</A>] [<A |
href="http://www.robotika.sk/contest/pravidla.html">Pravidlá</A>] [<A |
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<P align=center><FONT size=-2>© 2002 Katedra automatizácie a regulácie FEI |
STU<BR>Ilkovièova 3, 812 19 Bratislava <BR>Posledná zmena: 12. októbra |
2002.<BR>Zodpovedný èlovek: <I><A href="mailto:balogh@elf.stuba.sk">Richard |
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/roboti/callis/Kopie (2) - callis_1.nqc |
---|
0,0 → 1,192 |
#define THRESHOLD 44 // rozhodovaci uroven mezi cernou a bilou |
#define FTHRESHOLD 100 // Rozhodovaci uroven dalkoveho sensoru |
#define MLEFT OUT_C // Motory |
#define MRIGHT OUT_A |
#define RSENSOR SENSOR_1 // Sensory na caru |
#define LSENSOR SENSOR_3 |
#define BUMPER SENSOR_2 // Dalkovy sensor |
#define L 0 // left |
#define R 1 // right |
#define S 2 // straight |
int movement; // smer minuleho pohybu |
int line; // na ktere strane byla detekovana cara |
int dira; // pocitadlo pro nalezeni preruseni cary |
int derivace; // jak moc se bude zachovavat predesly smer |
void Straight() // rovne |
{ |
OnRev(MLEFT); |
OnFwd(MRIGHT); |
movement=S; |
} |
void Left() // doleva |
{ |
Off(MLEFT); |
OnFwd(MRIGHT); |
movement=L; |
} |
void Right() // doprava |
{ |
OnRev(MLEFT); |
Off(MRIGHT); |
movement=R; |
} |
task main() |
{ |
PlaySound (SOUND_DOUBLE_BEEP); |
Wait(100); // 1s |
SetSensor(RSENSOR,SENSOR_LIGHT); // senzor na caru modry pravy |
SetSensor(LSENSOR,SENSOR_LIGHT); // senzor na caru modry levy |
// sensor na prekazku |
SetSensor(BUMPER,_SENSOR_CFG(SENSOR_TYPE_LIGHT, SENSOR_MODE_RAW)); |
SetTxPower(TX_POWER_HI); // aby daleko videl |
movement=S; |
line=S; |
dira=0; |
start cara; |
start cihla; |
SetPower (MLEFT,OUT_FULL); |
SetPower (MRIGHT,OUT_FULL); |
} |
task cara() |
{ |
Straight(); |
while(true) |
{ |
if (THRESHOLD < RSENSOR) |
{ |
line=R; |
dira=0; |
switch(movement) |
{ |
case L: |
Right(); |
break; |
default: |
Straight(); |
}; |
} |
else |
if (THRESHOLD < LSENSOR) |
{ |
line=L; |
dira=0; |
switch(movement) |
{ |
case R: |
Left(); |
break; |
default: |
Straight(); |
}; |
} |
else |
{ |
if (20 < dira++) |
{ |
PlaySound (SOUND_FAST_UP); |
switch(movement) |
{ |
case L: |
line=R; |
Off(MLEFT); //couvej |
OnRev(MRIGHT); |
break; |
case R: |
line=L; |
OnFwd(MLEFT); // couvej |
Off(MRIGHT); |
break; |
}; |
Wait(50); |
Straight(); |
Wait(5); |
dira=0; |
}; |
switch(line) |
{ |
case L: |
Left(); |
break; |
case R: |
Right(); |
break; |
}; |
} |
} // while(true) |
} |
task cihla() // dalkovy sensor |
{ |
int lastlevel; |
lastlevel = 0; |
while(true) |
{ |
SendMessage(0); |
if(lastlevel > BUMPER) |
{ |
PlaySound(SOUND_DOWN); |
stop cara; |
Off(MLEFT); // stop |
Off(MRIGHT); |
Wait(5); |
OnRev(MLEFT); // do leva |
OnRev(MRIGHT); |
Wait(30); |
Off(MLEFT); // stop |
Off(MRIGHT); |
Wait(5); |
OnRev(MLEFT); // rovne |
OnFwd(MRIGHT); |
Wait(70); |
Off(MLEFT); // stop |
Off(MRIGHT); |
Wait(5); |
OnFwd(MLEFT); // do prava |
OnFwd(MRIGHT); |
Wait(25); |
Off(MLEFT); // stop |
Off(MRIGHT); |
Wait(5); |
OnRev(MLEFT); // rovne |
OnFwd(MRIGHT); |
Wait(80); |
Off(MLEFT); // stop |
Off(MRIGHT); |
Wait(5); |
OnFwd(MLEFT); // do prava |
OnFwd(MRIGHT); |
Wait(25); |
Off(MLEFT); // stop |
Off(MRIGHT); |
Wait(5); |
OnRev(MLEFT); // rovne |
OnFwd(MRIGHT); |
Wait(60); |
OnRev(MLEFT); // do leva |
OnRev(MRIGHT); |
Wait(20); |
while(THRESHOLD > RSENSOR); // toc se dokud neni cara |
Off(MLEFT); // stop |
Off(MRIGHT); |
Wait(30); |
line=R; |
start cara; |
} |
lastlevel = BUMPER; |
lastlevel -= FTHRESHOLD; |
} |
} |
/roboti/callis/Kopie (2) - callis_spravne motory.nqc |
---|
0,0 → 1,154 |
#define THRESHOLD 44 // rozhodovaci uroven mezi cernou a bilou |
#define FTHRESHOLD 100 // Rozhodovaci uroven dalkoveho sensoru |
#define ML OUT_A // Motory |
#define MR OUT_C |
#define FL OnFwd(ML) // Vpred |
#define FR OnRev(MR) |
#define BL OnRev(ML) // Vzad |
#define BR OnFwd(MR) |
#define RSENSOR SENSOR_3 // Sensory na caru |
#define LSENSOR SENSOR_1 |
#define BUMPER SENSOR_2 // Dalkovy sensor |
#define L 0 // left |
#define R 1 // right |
#define S 2 // straight |
int movement; // smer minuleho pohybu |
int line; // na ktere strane byla detekovana cara |
int dira; // pocitadlo pro nalezeni preruseni cary |
void Straight() // rovne |
{ |
FL; |
FR; |
movement=S; |
} |
void Left() // doleva |
{ |
Off(ML); |
FR; |
movement=L; |
} |
void Right() // doprava |
{ |
FL; |
Off(MR); |
movement=R; |
} |
task main() |
{ |
PlaySound (SOUND_DOUBLE_BEEP); |
Wait(100); // 1s |
SetSensor(RSENSOR,SENSOR_LIGHT); // senzor na caru modry pravy |
SetSensor(LSENSOR,SENSOR_LIGHT); // senzor na caru modry levy |
// sensor na prekazku |
SetSensor(BUMPER,_SENSOR_CFG(SENSOR_TYPE_LIGHT, SENSOR_MODE_RAW)); |
SetTxPower(TX_POWER_HI); // aby daleko videl |
SetPower (ML,OUT_FULL); // vykon motoru |
SetPower (MR,OUT_FULL); |
movement=S; |
line=S; |
dira=0; |
start cara; |
start cihla; |
} |
task cara() // sledovani cary |
{ |
Straight(); |
while(true) |
{ |
if (THRESHOLD < RSENSOR) // Cara vpravo |
{ |
line=R; // cara zrejme bude na druhe strane |
dira=0; // nuluj pocitadlo diry |
switch(movement) |
{ |
case L: |
Right(); |
break; |
default: |
Straight(); |
}; |
} |
else |
if (THRESHOLD < LSENSOR) // Cara vlevo |
{ |
line=L; // zaznamenej, kdes videl caru |
dira=0; // nuluj pocitadlo diry |
switch(movement) |
{ |
case R: |
Left(); |
break; |
default: |
Straight(); |
}; |
} |
else // sensory mimo caru |
{ |
if (20 < dira++) // nejedeme uz moc dlouho bez cary? |
{ |
PlaySound (SOUND_FAST_UP); |
switch(movement) |
{ |
case L: |
line=R; // cara zrejme bude na druhe strane |
Off(ML); //couvej |
BR; |
break; |
case R: |
line=L; // cara zrejme bude na druhe strane |
BL; // couvej |
Off(MR); |
break; |
}; |
Wait(50); // zpet, ale ne uplne a kousek rovne |
Straight(); |
Wait(5); |
dira=0; // myslime si, ze diru jsme vyresili |
}; |
switch(line) // kdyz nevidis caru, tak jed tam, kdes ji videl naposled |
{ |
case L: |
Left(); |
break; |
case R: |
Right(); |
break; |
}; |
} |
} // while(true) |
} |
task cihla() // dalkovy sensor |
{ |
int lastlevel; |
lastlevel = 0; |
while(true) |
{ |
SendMessage(0); |
if(lastlevel > BUMPER) |
{ |
PlaySound(SOUND_DOWN); |
stop cara; |
Off(ML); // zatim pouze zastav |
Off(MR); |
Wait(300); |
start cara; |
} |
lastlevel = BUMPER; |
lastlevel -= FTHRESHOLD; |
} |
} |
/roboti/callis/Kopie (3) - callis.nqc |
---|
0,0 → 1,153 |
#define THRESHOLD 44 // rozhodovaci uroven mezi cernou a bilou |
#define FTHRESHOLD 100 // Rozhodovaci uroven dalkoveho sensoru |
#define MLEFT OUT_C // Motory |
#define MRIGHT OUT_A |
#define RSENSOR SENSOR_1 // Sensory na caru |
#define LSENSOR SENSOR_3 |
#define BUMPER SENSOR_2 // Dalkovy sensor |
#define L 0 // left |
#define R 1 // right |
#define S 2 // straight |
int movement; // smer minuleho pohybu |
int line; // na ktere strane byla detekovana cara |
int dira; // pocitadlo pro nalezeni preruseni cary |
int derivace; // jak moc se bude zachovavat predesly smer |
void Straight() // rovne |
{ |
SetPower (MLEFT,OUT_FULL); |
SetPower (MRIGHT,OUT_FULL); |
OnRev(MLEFT); |
OnFwd(MRIGHT); |
derivace=5; |
movement=S; |
} |
void Left() // doleva |
{ |
SetPower (MLEFT,OUT_LOW); |
SetPower (MRIGHT,OUT_FULL); |
Off(MLEFT); |
OnFwd(MRIGHT); |
derivace=3; |
movement=L; |
} |
void Right() // doprava |
{ |
SetPower (MLEFT,OUT_FULL); |
SetPower (MRIGHT,OUT_LOW); |
OnRev(MLEFT); |
Off(MRIGHT); |
derivace=3; |
movement=R; |
} |
task main() |
{ |
PlaySound (SOUND_DOUBLE_BEEP); |
Wait(100); // 1s |
SetSensor(RSENSOR,SENSOR_LIGHT); // senzor na caru modry pravy |
SetSensor(LSENSOR,SENSOR_LIGHT); // senzor na caru modry levy |
// sensor na prekazku |
SetSensor(BUMPER,_SENSOR_CFG(SENSOR_TYPE_LIGHT, SENSOR_MODE_RAW)); |
SetTxPower(TX_POWER_HI); // aby daleko videl |
movement=S; |
line=S; |
dira=0; |
// start cara; |
start cihla; |
Straight(); |
while(true) |
{ |
if (THRESHOLD < RSENSOR) |
{ |
line=R; |
dira=0; |
Right(); |
if (THRESHOLD < RSENSOR) |
{ |
while(THRESHOLD < RSENSOR); |
} |
else |
}; |
if (THRESHOLD < LSENSOR) |
{ |
if (L==movement) |
{ |
Straight(); |
} |
else |
{ |
line=L; |
dira=0; |
Left(); |
}; |
}; |
} |
} |
task cara() |
{ |
Left(); |
while(true) |
{ |
if (8 < dira++) |
{ |
PlaySound(SOUND_DOUBLE_BEEP); |
if (L==line) line=R; else line=L; |
Off(MLEFT); |
Off(MRIGHT); |
Wait(500); |
dira=0; |
}; |
switch(line) |
{ |
case S: |
break; |
case L: |
Left(); |
break; |
case R: |
Right(); |
break; |
}; |
// line=S; |
Wait(5); |
Straight(); |
Wait(5); |
} |
} |
task cihla() // dalkovy sensor |
{ |
int lastlevel; |
lastlevel = 0; |
while(true) |
{ |
SendMessage(0); |
if(lastlevel > BUMPER) |
{ |
PlaySound(SOUND_FAST_UP); |
stop cara; |
Off(MLEFT); |
Off(MRIGHT); |
Wait(300); |
start cara; |
} |
lastlevel = BUMPER; |
lastlevel -= FTHRESHOLD; |
} |
} |
/roboti/callis/Kopie - calis.nqc |
---|
0,0 → 1,118 |
#define THRESHOLD 44 // rozhodovaci uroven mezi cernou a bilou |
#define FTHRESHOLD 150 // Rozhodovaci uroven dalkoveho sensoru |
#define RED_WHITE 60 // maximum bile na cervenem senzoru |
#define MLEFT OUT_C |
#define MRIGHT OUT_A |
#define RSENSOR SENSOR_1 |
#define LSENSOR SENSOR_3 |
#define BUMPER SENSOR_2 |
#define L 0 |
#define R 1 |
#define S 2 |
int line; |
task main() |
{ |
PlaySound (SOUND_DOUBLE_BEEP); |
Wait(100); // 1s |
SetSensor(RSENSOR,SENSOR_LIGHT); // senzor na caru modry pravy |
SetSensor(LSENSOR,SENSOR_LIGHT); // senzor na caru modry levy |
SetSensor(BUMPER,_SENSOR_CFG(SENSOR_TYPE_LIGHT, SENSOR_MODE_RAW)); // senzor na prekazku |
SetTxPower(TX_POWER_HI); // aby daleko videl |
// start cihla; |
// start cara; |
SetPower (MLEFT,OUT_HALF); |
SetPower (MRIGHT,OUT_HALF); |
OnRev(MLEFT); // rozjed se vpred |
OnFwd(MRIGHT); |
line=S; |
while(true) |
{ |
if (THRESHOLD < RSENSOR) |
{ |
line=R; |
SetPower (MRIGHT,OUT_LOW); |
OnRev(MLEFT); |
}; |
if (THRESHOLD < LSENSOR) |
{ |
line=L; |
SetPower (MLEFT,OUT_LOW); |
OnFwd(MRIGHT); |
}; |
if ((THRESHOLD > LSENSOR)&&(THRESHOLD > RSENSOR)) |
{ |
if(L==line) |
{ |
Off(MLEFT); |
OnFwd(MRIGHT); |
while(THRESHOLD > LSENSOR); |
while(THRESHOLD < LSENSOR); |
}; |
if(R==line) |
{ |
Off(MRIGHT); |
OnRev(MLEFT); |
while(THRESHOLD > RSENSOR); |
while(THRESHOLD < RSENSOR); |
}; |
line=S; |
SetPower (MLEFT,OUT_HALF); |
SetPower (MRIGHT,OUT_HALF); |
OnRev(MLEFT); // rozjed se vpred |
OnFwd(MRIGHT); |
} |
} |
} |
task cara() |
{ |
while(true) |
{ |
OnRev(MLEFT); // rozjed se vpred |
OnFwd(MRIGHT); |
if (THRESHOLD < RSENSOR) |
{ |
OnRev(MRIGHT); |
Wait(1); |
Off(MRIGHT); |
}; |
if (THRESHOLD < LSENSOR) |
{ |
OnFwd(MLEFT); |
Wait(1); |
Off(MLEFT); |
}; |
while((THRESHOLD < RSENSOR)||(THRESHOLD < LSENSOR)); |
} |
} |
task cihla() // dalkovy sensor |
{ |
int lastlevel; |
lastlevel = 0; |
while(true) |
{ |
SendMessage(0); |
if(lastlevel > BUMPER) |
{ |
PlaySound(SOUND_FAST_UP); |
stop cara; |
Off(MLEFT); |
Off(MRIGHT); |
Wait(100); |
start cara; |
} |
lastlevel = BUMPER; |
lastlevel -= FTHRESHOLD; |
} |
} |
/roboti/callis/Kopie - callis.nqc |
---|
0,0 → 1,139 |
#define THRESHOLD 44 // rozhodovaci uroven mezi cernou a bilou |
#define FTHRESHOLD 100 // Rozhodovaci uroven dalkoveho sensoru |
#define MLEFT OUT_C // Motory |
#define MRIGHT OUT_A |
#define RSENSOR SENSOR_1 // Sensory na caru |
#define LSENSOR SENSOR_3 |
#define BUMPER SENSOR_2 // Dalkovy sensor |
#define L 0 // left |
#define R 1 // right |
#define S 2 // straight |
int movement; // smer minuleho pohybu |
int line; // na ktere strane byla detekovana cara |
int dira; // pocitadlo pro nalezeni preruseni cary |
int derivace; // jak moc se bude zachovavat predesly smer |
void Straight() // rovne |
{ |
SetPower (MLEFT,OUT_FULL); |
SetPower (MRIGHT,OUT_FULL); |
OnRev(MLEFT); |
OnFwd(MRIGHT); |
derivace=5; |
movement=S; |
} |
void Left() // doleva |
{ |
SetPower (MLEFT,OUT_LOW); |
SetPower (MRIGHT,OUT_FULL); |
Off(MLEFT); |
OnFwd(MRIGHT); |
derivace=5; |
movement=L; |
} |
void Right() // doprava |
{ |
SetPower (MLEFT,OUT_FULL); |
SetPower (MRIGHT,OUT_LOW); |
OnRev(MLEFT); |
Off(MRIGHT); |
derivace=5; |
movement=R; |
} |
task main() |
{ |
PlaySound (SOUND_DOUBLE_BEEP); |
Wait(100); // 1s |
SetSensor(RSENSOR,SENSOR_LIGHT); // senzor na caru modry pravy |
SetSensor(LSENSOR,SENSOR_LIGHT); // senzor na caru modry levy |
// sensor na prekazku |
SetSensor(BUMPER,_SENSOR_CFG(SENSOR_TYPE_LIGHT, SENSOR_MODE_RAW)); |
SetTxPower(TX_POWER_HI); // aby daleko videl |
movement=S; |
line=S; |
dira=0; |
start cara; |
start cihla; |
while(true) |
{ |
if (THRESHOLD < RSENSOR) {line=R; dira=0;}; |
if (THRESHOLD < LSENSOR) {line=L; dira=0;}; |
} |
} |
task cara() |
{ |
Left(); |
while(true) |
{ |
switch(line) |
{ |
case S: |
if (3 < dira++) |
{ |
PlaySound(SOUND_DOUBLE_BEEP); |
}; |
break; |
case L: |
switch(movement) |
{ |
// case S: |
case R: |
Left(); |
break; |
case L: |
Right(); |
break; |
}; |
break; |
case R: |
switch(movement) |
{ |
// case S: |
case L: |
Right(); |
break; |
case R: |
Left(); |
break; |
}; |
break; |
}; |
line=S; |
Wait(10); |
} |
} |
task cihla() // dalkovy sensor |
{ |
int lastlevel; |
lastlevel = 0; |
while(true) |
{ |
SendMessage(0); |
if(lastlevel > BUMPER) |
{ |
PlaySound(SOUND_FAST_UP); |
stop cara; |
Off(MLEFT); |
Off(MRIGHT); |
Wait(300); |
start cara; |
} |
lastlevel = BUMPER; |
lastlevel -= FTHRESHOLD; |
} |
} |
/roboti/callis/Lego MindStorms Bumper1.htm |
---|
0,0 → 1,51 |
<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0 Transitional//EN"> |
<!-- saved from url=(0062)http://www.cs.uu.nl/people/markov/lego/tips/bumper1/index.html --> |
<HTML><HEAD><TITLE>Lego MindStorms: Bumper1</TITLE> |
<META http-equiv=Content-Type content="text/html; charset=windows-1250"> |
<META content="MSHTML 6.00.2800.1226" name=GENERATOR></HEAD> |
<BODY background="Lego MindStorms Bumper1_soubory/back.jpg"> |
<TABLE> |
<TBODY> |
<TR vAlign=top> |
<TD> |
<P><IMG src="Lego MindStorms Bumper1_soubory/logo.gif"></P> |
<P><A href="http://www.cs.uu.nl/people/markov/lego/index.html"><IMG |
height=58 alt=[Home] src="Lego MindStorms Bumper1_soubory/homeoff.gif" |
width=78 align=ABSCENTER border=0></A></P> |
<P><A |
href="http://www.cs.uu.nl/people/markov/lego/challenge/index.html"><IMG |
height=58 alt=[Challenge] |
src="Lego MindStorms Bumper1_soubory/challengeoff.gif" width=78 |
align=ABSCENTER border=0></A></P> |
<P><A href="http://www.cs.uu.nl/people/markov/lego/rcxcc/index.html"><IMG |
height=58 alt=[RcxCC] src="Lego MindStorms Bumper1_soubory/rcxccoff.gif" |
width=78 align=ABSCENTER border=0></A></P> |
<P><A href="http://www.cs.uu.nl/people/markov/lego/robots/index.html"><IMG |
height=58 alt=[Robots] src="Lego MindStorms Bumper1_soubory/robotsoff.gif" |
width=78 align=ABSCENTER border=0></A></P> |
<P><A href="http://www.cs.uu.nl/people/markov/lego/tips/index.html"><IMG |
height=58 alt=[Tips] src="Lego MindStorms Bumper1_soubory/tipsoff.gif" |
width=78 align=ABSCENTER border=0></A></P> |
<P><A href="http://www.cs.uu.nl/people/markov/lego/links/index.html"><IMG |
height=58 alt=[Links] src="Lego MindStorms Bumper1_soubory/linksoff.gif" |
width=78 align=ABSCENTER border=0></A></P></TD> |
<TD><IMG src="Lego MindStorms Bumper1_soubory/bumper1.jpg"> <FONT |
size=+4>Bumper Design</FONT> |
<P><IMG src="Lego MindStorms Bumper1_soubory/divide.gif"></P>Here is a |
design for a bumper. The advantages of this bumper are that it uses only |
one touch sensor and still covers the whole front of the robot. Moreover, |
the sensor is on when touched and off otherwise (contrary to many of the |
designs that come with MindStorms. This means you can multiplex it with |
other touch or light sensors on one input. It can be made from the pieces |
of the Robotic Invention System. Here are the instruction: |
<P><IMG src="Lego MindStorms Bumper1_soubory/step1.jpg"> <IMG |
src="Lego MindStorms Bumper1_soubory/step2.jpg"> |
<P><IMG src="Lego MindStorms Bumper1_soubory/step3.jpg"> <IMG |
src="Lego MindStorms Bumper1_soubory/step4.jpg"> |
<P><IMG src="Lego MindStorms Bumper1_soubory/step5.jpg"> <IMG |
src="Lego MindStorms Bumper1_soubory/step6.jpg"> |
<P><IMG src="Lego MindStorms Bumper1_soubory/step7.jpg"> <IMG |
src="Lego MindStorms Bumper1_soubory/step8.jpg"> |
<P><IMG src="Lego MindStorms Bumper1_soubory/divide.gif"></P>Comments to: |
<ADDRESS><A href="mailto:markov@cs.uu.nl" |
subject="MindStorms">markov@cs.uu.nl</A></ADDRESS></TD></TR></TBODY></TABLE></BODY></HTML> |
/roboti/callis/Lego MindStorms Bumper1_soubory/Thumbs.db |
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/roboti/callis/Lego MindStorms Drive-Steer Car.htm |
---|
0,0 → 1,57 |
<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0 Transitional//EN"> |
<!-- saved from url=(0068)http://www.cs.uu.nl/people/markov/lego/tips/Differential1/index.html --> |
<HTML><HEAD><TITLE>Lego MindStorms: Drive-Steer Car</TITLE> |
<META http-equiv=Content-Type content="text/html; charset=windows-1250"> |
<META content="MSHTML 6.00.2800.1226" name=GENERATOR></HEAD> |
<BODY background="Lego MindStorms Drive-Steer Car_soubory/back.jpg"> |
<TABLE> |
<TBODY> |
<TR vAlign=top> |
<TD> |
<P><IMG src="Lego MindStorms Drive-Steer Car_soubory/logo.gif"></P> |
<P><A href="http://www.cs.uu.nl/people/markov/lego/index.html"><IMG |
height=58 alt=[Home] |
src="Lego MindStorms Drive-Steer Car_soubory/homeoff.gif" width=78 |
align=ABSCENTER border=0></A></P> |
<P><A |
href="http://www.cs.uu.nl/people/markov/lego/challenge/index.html"><IMG |
height=58 alt=[Challenge] |
src="Lego MindStorms Drive-Steer Car_soubory/challengeoff.gif" width=78 |
align=ABSCENTER border=0></A></P> |
<P><A href="http://www.cs.uu.nl/people/markov/lego/rcxcc/index.html"><IMG |
height=58 alt=[RcxCC] |
src="Lego MindStorms Drive-Steer Car_soubory/rcxccoff.gif" width=78 |
align=ABSCENTER border=0></A></P> |
<P><A href="http://www.cs.uu.nl/people/markov/lego/robots/index.html"><IMG |
height=58 alt=[Robots] |
src="Lego MindStorms Drive-Steer Car_soubory/robotsoff.gif" width=78 |
align=ABSCENTER border=0></A></P> |
<P><A href="http://www.cs.uu.nl/people/markov/lego/tips/index.html"><IMG |
height=58 alt=[Tips] |
src="Lego MindStorms Drive-Steer Car_soubory/tipsoff.gif" width=78 |
align=ABSCENTER border=0></A></P> |
<P><A href="http://www.cs.uu.nl/people/markov/lego/links/index.html"><IMG |
height=58 alt=[Links] |
src="Lego MindStorms Drive-Steer Car_soubory/linksoff.gif" width=78 |
align=ABSCENTER border=0></A></P></TD> |
<TD><IMG src="Lego MindStorms Drive-Steer Car_soubory/final.jpg"> <FONT |
size=+4>Drive-Steer Car</FONT> |
<P><IMG src="Lego MindStorms Drive-Steer Car_soubory/divide.gif"></P>This |
mechanism is based on the adder-subtractors of <A |
href="http://carol.wins.uva.nl/~leo/lego/diff.html">Leo </A>and <A |
href="http://www.phred.org/~alex/lego/">Alex </A>. It must be driven by |
two motors; one connected to one of the four gears on one side, and the |
other connected to one of the three gears on the other side. One motor |
makes the wheels move in the same direction. The other sterrs by making |
the wheels move in opposite direction. My design is acccording to me |
stronger than the other ones. Here are some more pictures |
<P><IMG src="Lego MindStorms Drive-Steer Car_soubory/step1.jpg"> <IMG |
src="Lego MindStorms Drive-Steer Car_soubory/step2.jpg"> |
<P><IMG src="Lego MindStorms Drive-Steer Car_soubory/step3.jpg"> <IMG |
src="Lego MindStorms Drive-Steer Car_soubory/step4.jpg"> |
<P><IMG src="Lego MindStorms Drive-Steer Car_soubory/step5.jpg"> <IMG |
src="Lego MindStorms Drive-Steer Car_soubory/final.jpg"> |
<P><IMG |
src="Lego MindStorms Drive-Steer Car_soubory/divide.gif"></P>Comments to: |
<ADDRESS><A href="mailto:markov@cs.uu.nl" |
subject="MindStorms">markov@cs.uu.nl</A></ADDRESS></TD></TR></TBODY></TABLE></BODY></HTML> |
/roboti/callis/Lego MindStorms Drive-Steer Car_soubory/Thumbs.db |
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<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0 Transitional//EN"> |
<!-- saved from url=(0054)http://www.cs.uu.nl/people/markov/lego/tips/index.html --> |
<HTML><HEAD><TITLE>Lego Robots: Tips and Tricks</TITLE> |
<META http-equiv=Content-Type content="text/html; charset=windows-1250"> |
<META content="MSHTML 6.00.2800.1226" name=GENERATOR></HEAD> |
<BODY background="Lego Robots Tips and Tricks_soubory/back.jpg"> |
<TABLE> |
<TBODY> |
<TR vAlign=top> |
<TD> |
<P><IMG src="Lego Robots Tips and Tricks_soubory/logo.gif"></P> |
<P><A href="http://www.cs.uu.nl/people/markov/lego/index.html"><IMG |
height=58 alt=[Home] src="Lego Robots Tips and Tricks_soubory/homeoff.gif" |
width=78 align=ABSCENTER border=0></A></P> |
<P><A |
href="http://www.cs.uu.nl/people/markov/lego/challenge/index.html"><IMG |
height=58 alt=[Challenge] |
src="Lego Robots Tips and Tricks_soubory/challengeoff.gif" width=78 |
align=ABSCENTER border=0></A></P> |
<P><A href="http://www.cs.uu.nl/people/markov/lego/rcxcc/index.html"><IMG |
height=58 alt=[RcxCC] |
src="Lego Robots Tips and Tricks_soubory/rcxccoff.gif" width=78 |
align=ABSCENTER border=0></A></P> |
<P><A href="http://www.cs.uu.nl/people/markov/lego/robots/index.html"><IMG |
height=58 alt=[Robots] |
src="Lego Robots Tips and Tricks_soubory/robotsoff.gif" width=78 |
align=ABSCENTER border=0></A></P> |
<P><A href="http://www.cs.uu.nl/people/markov/lego/tips/index.html"><IMG |
height=58 alt=[Tips] src="Lego Robots Tips and Tricks_soubory/tipson.gif" |
width=78 align=ABSCENTER border=0></A></P> |
<P><A href="http://www.cs.uu.nl/people/markov/lego/links/index.html"><IMG |
height=58 alt=[Links] |
src="Lego Robots Tips and Tricks_soubory/linksoff.gif" width=78 |
align=ABSCENTER border=0></A></P></TD> |
<TD><FONT size=+4>Lego Robots Tips and Tricks</FONT> |
<P><IMG src="Lego Robots Tips and Tricks_soubory/divide.gif"></P> |
<P> |
<H2>Sensors</H2> |
<H3>Putting light and touch sensors on one input</H3>It is easy to put |
touch and light sensors on one sensor input. In this case better set the |
sensor mode to raw. In nqc this can be done as follows: <PRE> SetSensor(SENSOR_2,_SENSOR_CFG(SENSOR_TYPE_LIGHT, SENSOR_MODE_RAW)); |
</PRE>Now a value below 100 is a touch sensor event. Values above this |
correspond to light levels (the higher the darker). |
<H3>Using the IR port for proximity detection</H3>It turns out that the |
light sensor is very sensitive to the infra-red light produced by the the |
IR port on the robot. To uses this, mount the light sensor above the IR |
port, pointing forward. Now regularly send messages. When there is a wall |
close in front of the robot, you can notice this by high intensity changes |
in the reading of the light sensor (preferably in raw mode). The closer |
you get, the higher the fluctuations become. After a bit of tuning you can |
rather accurately predict the distance. Here is a simple <A |
href="http://www.cs.uu.nl/people/markov/lego/tips/ping.nqc">nqc |
program</A> to demonstrate how this works. Thanks to Dave Chen and Simen |
Svale Skogsrud for finding out about this. |
<H2>Design</H2> |
<H3>Front and back</H3>All designs that come with Lego MindStorms use the |
IR-port side of the RCX as the front. This is not a good idea because you |
normally add a lot of stuff at the front, making the IR-port almost |
invisible. Also, for balance reasons, it is good to put the motors under |
the middle of the RCX. Finally, if you use a swivelling wheel, put it at |
the back, not at the front. Pulling a swivelling wheel gives a much |
straighter motion than pushing it. |
<H3>Drive-Steer mechanism</H3> |
<P> |
<TABLE> |
<TBODY> |
<TR vAlign=top> |
<TD><IMG src="Lego Robots Tips and Tricks_soubory/step3.jpg"> </TD> |
<TD>This mechanism is based on the adder-subtractors of <A |
href="http://carol.wins.uva.nl/~leo/lego/diff.html">Leo </A>and <A |
href="http://www.phred.org/~alex/lego/">Alex </A>. It must be driven |
by two motors; one connected to one of the four gears on one side, |
and the other connected to one of the three gears on the other side. |
One motor makes the wheels move in the same direction. The other |
sterrs by making the wheels move in opposite direction. My design is |
acccording to me stronger than the other ones. More pictures can be |
found <A |
href="http://www.cs.uu.nl/people/markov/lego/tips/Differential1/index.html">here</A>. |
</TD></TR></TBODY></TABLE> |
<H3>Double motor power</H3> |
<P> |
<TABLE> |
<TBODY> |
<TR vAlign=top> |
<TD><IMG src="Lego Robots Tips and Tricks_soubory/twomotors.jpg"> |
</TD> |
<TD>If you need extra motor power, and you have enough motors, |
connect two together. You can out them both on the same output to |
drive them simultaneously. This is especially good for heavy robots |
or if you want your robots to go fast. I assume you can do the same |
with three or more motors, but I am not sure how many you can |
connect to one output. </TD></TR></TBODY></TABLE> |
<H3>Bumpers</H3> |
<P> |
<TABLE> |
<TBODY> |
<TR vAlign=top> |
<TD><IMG src="Lego Robots Tips and Tricks_soubory/bumper1.jpg"> </TD> |
<TD>Here is bumper I designed that uses only one touch sensor. |
Instructions for building it can be found <A |
href="http://www.cs.uu.nl/people/markov/lego/tips/bumper1/index.html">here</A>. |
</TD></TR></TBODY></TABLE> |
<H2>Internals</H2> |
<H3>Free memory</H3>After loading the firmware, it seems that there is |
about 6K of memory available for programs. You can use the <B>RCX Command |
Center</B> to free this memory when required. |
<H2>Programming with SPIRIT.OCX</H2> |
<H3>Using the joystick</H3>Here is an <A |
href="http://www.cs.uu.nl/people/markov/lego/tips/RCXJoystick.zip">example |
program</A> (in Delphi 3) of how you can use the joystick to steer the |
RCX. It comes with full source and is freeware. It is a simplified |
stand-alone version of the joystick window in my RCX Command Center |
version 2.0. |
<H3>Registering SPIRIT.OCX</H3>If you don't want to install the lego |
software on your system but still use programs like the <B>RCX Command |
Center</B> you must register the OCX. Copy the spirit.ocx file from the |
lego Cdrom to you harddisk and use the Run command in the windows Start |
menu to execute <PRE> REGSVR32.EXE spirit.ocx |
</PRE>This will register the ocx on your machine. (You might need to |
specify the path of the ocx in the above command.) |
<H3>Bugs</H3>There is a bug in the OCX: When polling the mode of a sensor |
(e.g. Poll(11,0)) you don't get the right mode but 32* the mode. |
<P>There is another bug in the polling command. Polling the watch gives |
you the total time in minutes, and not divided in hours and minutes as the |
doc suggests. </P></TD></TR></TBODY></TABLE></BODY></HTML> |
/roboti/callis/Lego Robots Tips and Tricks_soubory/Thumbs.db |
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/roboti/callis/ModelHobby2004.bak |
---|
0,0 → 1,118 |
// Robot na MiniSumo pro Model Hobby 2004 |
// $Archive: /Lego/ModelHobby2004.nqc $ |
// $Date: 2.10.04 0:44 $ |
// $Revision: 3 $ |
#define THRESHOLD 65 // rozhodovaci uroven mezi cernou a bilou |
#define FTHRESHOLD 100 // Rozhodovaci uroven dalkoveho sensoru |
#define POHON OUT_A // Motory |
#define MULETA OUT_C |
#define VPRED OnFwd(POHON) |
#define VZAD OnRev(POHON) |
#define NAHORU OnRev(MULETA) |
#define DOLU OnFwd(MULETA) |
#define PREDNI SENSOR_1 // Sensory na okraj |
#define ZADNI SENSOR_3 |
#define BUMPER SENSOR_2 // Dalkovy sensor |
task main() |
{ |
PlaySound (SOUND_DOUBLE_BEEP); |
Wait(400); // 5s podle pravidel - prvni prodleva procedury zapas |
SetSensor(PREDNI,SENSOR_LIGHT); // senzor na caru predni |
SetSensor(ZADNI,SENSOR_LIGHT); // senzor na caru zadni |
// sensor na prekazku |
SetSensor(BUMPER,_SENSOR_CFG(SENSOR_TYPE_LIGHT, SENSOR_MODE_RAW)); |
SetTxPower(TX_POWER_HI); // aby daleko videl |
SetPower (POHON,OUT_FULL); // vykon motoru |
SetPower (MULETA,OUT_HALF); |
start radar; |
start zapas; |
start nevypadni; |
start toro; |
} |
task toro() |
{ |
int i=1; |
while(true) |
{ |
if (i++ & 1) {DOLU;} else {NAHORU;}; |
Wait(50); |
Off(MULETA); |
Wait(200); |
} |
} |
task zapas() |
{ |
Wait(100); |
while(true) |
{ |
VZAD; |
Wait(50); |
Off(POHON); |
Wait(100); |
VPRED; |
Wait(50); |
Off(POHON); |
Wait(100); |
Off(POHON); |
Wait(100); |
} |
} |
task nevypadni() |
{ |
while(true) |
{ |
if (THRESHOLD > PREDNI) // Cara vpredu |
{ |
stop zapas; |
stop radar; |
PlaySound (SOUND_FAST_UP); |
VZAD; |
Wait(50); |
start radar; |
start zapas; |
} |
else |
if (THRESHOLD > ZADNI) // Cara vzadu |
{ |
stop zapas; |
stop radar; |
PlaySound (SOUND_FAST_UP); |
VPRED; |
Wait(50); |
start radar; |
start zapas; |
} |
} // while(true) |
} |
task radar() // dalkovy sensor |
{ |
int lastlevel; |
lastlevel = 0; |
while(true) |
{ |
SendMessage(0); |
if(lastlevel > BUMPER) // vidime robota? |
{ |
stop zapas; |
PlaySound(SOUND_DOWN); |
VPRED; |
Wait(50); |
} |
lastlevel = BUMPER; |
lastlevel -= FTHRESHOLD; |
} |
} |
/roboti/callis/ModelHobby2004.nqc |
---|
0,0 → 1,118 |
// Robot na MiniSumo pro Model Hobby 2004 |
// $Archive: /Lego/ModelHobby2004.nqc $ |
// $Date: 2.10.04 10:45 $ |
// $Revision: 4 $ |
#define THRESHOLD 65 // rozhodovaci uroven mezi cernou a bilou |
#define FTHRESHOLD 100 // Rozhodovaci uroven dalkoveho sensoru |
#define POHON OUT_A // Motory |
#define MULETA OUT_C |
#define VPRED OnFwd(POHON) |
#define VZAD OnRev(POHON) |
#define NAHORU OnRev(MULETA) |
#define DOLU OnFwd(MULETA) |
#define PREDNI SENSOR_1 // Sensory na okraj |
#define ZADNI SENSOR_3 |
#define BUMPER SENSOR_2 // Dalkovy sensor |
task main() |
{ |
PlaySound (SOUND_DOUBLE_BEEP); |
Wait(400); // 5s podle pravidel - prvni prodleva procedury zapas |
SetSensor(PREDNI,SENSOR_LIGHT); // senzor na caru predni |
SetSensor(ZADNI,SENSOR_LIGHT); // senzor na caru zadni |
// sensor na prekazku |
SetSensor(BUMPER,_SENSOR_CFG(SENSOR_TYPE_LIGHT, SENSOR_MODE_RAW)); |
SetTxPower(TX_POWER_HI); // aby daleko videl |
SetPower (POHON,OUT_FULL); // vykon motoru |
SetPower (MULETA,OUT_HALF); |
start radar; |
start zapas; |
start nevypadni; |
start toro; |
} |
task toro() |
{ |
int i=1; |
while(true) |
{ |
if (i++ & 1) {DOLU;} else {NAHORU;}; |
Wait(50); |
Off(MULETA); |
Wait(200); |
} |
} |
task zapas() |
{ |
Wait(100); // napodruhe pojedeme dele dozadu |
while(true) |
{ |
VZAD; // mateni telem |
Wait(50); |
Off(POHON); |
Wait(100); |
VPRED; |
Wait(50); |
Off(POHON); |
Wait(100); |
Off(POHON); |
Wait(100); |
} |
} |
task nevypadni() |
{ |
while(true) |
{ |
if (THRESHOLD > PREDNI) // Cara vpredu |
{ |
stop zapas; |
stop radar; |
PlaySound (SOUND_FAST_UP); |
VZAD; |
Wait(50); |
start radar; |
start zapas; |
} |
else |
if (THRESHOLD > ZADNI) // Cara vzadu |
{ |
stop zapas; |
stop radar; |
PlaySound (SOUND_FAST_UP); |
VPRED; |
Wait(50); |
start radar; |
start zapas; |
} |
} // while(true) |
} |
task radar() // dalkovy sensor |
{ |
int lastlevel; |
lastlevel = 0; |
while(true) |
{ |
SendMessage(0); |
if(lastlevel > BUMPER) // vidime robota? |
{ |
stop zapas; |
PlaySound(SOUND_DOWN); |
VPRED; |
Wait(50); |
} |
lastlevel = BUMPER; |
lastlevel -= FTHRESHOLD; |
} |
} |
/roboti/callis/NQC FAQ.htm |
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0,0 → 1,445 |
<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0 Transitional//EN"> |
<!-- saved from url=(0046)http://www.baumfamily.org/nqc_old/doc/faq.html --> |
<HTML><HEAD><TITLE>NQC FAQ</TITLE> |
<META http-equiv=Content-Type content="text/html; charset=windows-1250"><!-- Copyright 1998 Dave Baum --> |
<META content="MSHTML 6.00.2800.1400" name=GENERATOR></HEAD> |
<BODY bgColor=#ffffff> |
<H2>NQC FAQ</H2> |
<H3>General</H3> |
<UL> |
<LI><A href="http://www.baumfamily.org/nqc_old/doc/faq.html#nqc">What is |
NQC?</A> |
<LI><A href="http://www.baumfamily.org/nqc_old/doc/faq.html#mindstorms">What |
is LEGO MINDSTORMS?</A> |
<LI><A href="http://www.baumfamily.org/nqc_old/doc/faq.html#RIS2">Does NQC |
support RIS 2.0?</A> |
<LI><A href="http://www.baumfamily.org/nqc_old/doc/faq.html#firmware">How can |
I get the RCX 2.0 firmware?</A> </LI></UL> |
<H3>NQC Compiler Usage</H3> |
<UL> |
<LI><A href="http://www.baumfamily.org/nqc_old/doc/faq.html#dos">I'm using |
Windows, and when I click on NQC a window with some text flashes on the screen |
then disappears. What's going on?</A> |
<LI><A href="http://www.baumfamily.org/nqc_old/doc/faq.html#-Trcx2">I'm using |
the RCX 2.0 firmware but get errors when trying to call 2.0 functions (e.g. |
SetUserDisplay). What's wrong?</A> |
<LI><A href="http://www.baumfamily.org/nqc_old/doc/faq.html#errors">How can I |
redirect errors to a file?</A> |
<LI><A |
href="http://www.baumfamily.org/nqc_old/doc/faq.html#spiritinstall">Where is |
Spirit.ocx? RcxCC complains that it is not installed.</A> </LI></UL> |
<H3>IR Communication</H3> |
<UL> |
<LI><A href="http://www.baumfamily.org/nqc_old/doc/faq.html#usb">How do I get |
NQC to work with my USB IR tower?</A> |
<LI><A href="http://www.baumfamily.org/nqc_old/doc/faq.html#control">How do I |
use a computer to control the RCX?</A> |
<LI><A href="http://www.baumfamily.org/nqc_old/doc/faq.html#irusb">How do I |
use the IR tower with a USB Macintosh?</A> |
<LI><A href="http://www.baumfamily.org/nqc_old/doc/faq.html#irdebug">Help, |
RcxCC/MacNQC/NQC can't communicate with my RCX!</A> |
<LI><A href="http://www.baumfamily.org/nqc_old/doc/faq.html#irlaptop">How do I |
use my computer IR port with the RCX?</A> |
<LI><A href="file:///Users/dave/WebSite/nqc/doc/faq.html#irxp">How can I get |
the USB IR tower to work under Win XP?</A> </LI></UL> |
<H3>Miscellaneous</H3> |
<UL> |
<LI><A href="http://www.baumfamily.org/nqc_old/doc/faq.html#spirit">Why |
doesn't NQC use the Spirit OCX?</A> |
<LI><A href="http://www.baumfamily.org/nqc_old/doc/faq.html#vision">Does NQC |
support Vision Command?</A> |
<LI><A href="http://www.baumfamily.org/nqc_old/doc/faq.html#build">What |
computers/tools/etc do you use to develop NQC?</A> </LI></UL> |
<P></P> |
<HR align=left> |
<P></P> |
<H3><A name=nqc></A>What is NQC?</H3> |
<P>NQC (Not Quite C) is a programming language for several LEGO MINDSTORMS |
products including the RCX, CyberMaster, and Scout. NQC's syntax is very similar |
to the C programming langauge, so experienced C programmers (and Java |
programmers) should find it very easy to get started with. Even if you aren't an |
experienced programmer, NQC is relatively easy to learn.</P> |
<P>The two primary reasons people move up to NQC from the standard tools (RCX |
Code and Robolab) is that NQC is a textual langauge, and it is more powerful. |
Graphical languages are often easier to learn (no syntax errors!) but are |
generally more tedious to use than a textual langauge. The graphical metaphors |
of RCX Code (and to a certain extent Robolab) also significantly limit the types |
of programs you can write.</P> |
<P>NQC uses the same firmware as LEGO's standard tools (RCX Code and Robolab). |
This means it is possible to have RCX Code, Robolab, and NQC programs loaded |
onto the RCX at the same time. NQC also benefits from the stability and user |
interface (e.g. the View button) provided by the standard firmware. On the minus |
side, NQC must live within the constraints of the standard firmware. For |
example, since the firmware does not provide floating point support, NQC cannot |
provide it either. Other altermatives for programming the RCX (notably legOS and |
pbForth) do not have such restrictions.</P> |
<P></P> |
<HR align=left> |
<P></P> |
<H3><A name=mindstorms></A>What is LEGO MINDSTORMS?</H3> |
<P>LEGO MINDSTORMS is a series of LEGO sets that use special programmable bricks |
to allow construction of robots. The most versatile programmable brick is the |
RCX, which can be found in the Robotics Invention System set. A simpler brick, |
the Scout, can be found in the Robotics Discovery set. The simplest brick, Micro |
Scout, is featured in two sets with a Star Wars theme: Droid Developer Kit, and |
Dark Side Developer Kit. Even though it is the most expensive, the RCX based set |
is still the best value due to the versatility of the RCX itself. The Scout is a |
bit more limited, but still can be programmed (using NQC) to do some interesting |
things. The Micro-Scout is extremely limited, and it useful mainly as an |
accessory to another programmable brick such as the RCX or Scout. Further |
information on MINDSTORMS sets can be found at the official site: <A |
href="http://www.legomindstorms.com/" |
target=_blank>http://www.legomindstorms.com/</A>.</P> |
<P></P> |
<HR align=left> |
<P></P> |
<H3><A name=RIS2></A>Does NQC Support RIS 2.0?</H3> |
<P>The RCX in the RIS 2.0 is nearly identical to the 1.0 RCX. However, new |
firmware is used to give the RCX some new capabilities. Fortunately for existing |
RCX owners, this firmware is available for download from www.legomindstorms.com |
(as part of the RIS 2.0 SDK). NQC supports this new firmware (see <A |
href="http://www.baumfamily.org/nqc_old/doc/faq.html#-Trcx2">here for more |
info</A>).</P> |
<P>RIS 2.0 also uses a new IR tower with a USB connection (instead of the |
eariler RS-232 based towers). Support for the USB tower under Windows and Mac OS |
X is currently in <A |
href="http://www.baumfamily.org/nqc_old/beta/index.html">beta test</A>. Support |
for Mac OS 9 will be added shortly and several other people are working on Linux |
support.</P> |
<H3> |
<HR align=left> |
<A name=firmware></A>How can I get the RCX 2.0 firmware?</H3> |
<P>The RCX 2.0 firmware is contained in a file named FIRM0328.LGO and is |
installed on your PC when you install the standard LEGO software. It is also |
installed as part of the Vision Command software and the 2.0 SDK.</P> |
<P>Unfortunately, all previously mentioned sources for the firmware require |
software to be installed on a Windows computer. If you are using a different |
operating system, then you will need to download the earlier Beta version of the |
2.0 SDK which was packaged as a .zip file rather than a full installer. This |
.zip file may then be expanded to get the FIRM0328.LGO file. The SDK 2.0 Beta |
can be found at <A href="http://mindstorms.lego.com/sdk2beta/default.asp" |
target=_blank>http://mindstorms.lego.com/sdk2beta/default.asp</A>.</P> |
<P></P> |
<HR align=left> |
<P></P> |
<H3><A name=dos></A>I'm using Windows, and when I click on NQC a window with |
some text flashes on the screen then disappears. What's going on?</H3> |
<P>NQC is a command line based tool - normally you run it by typing an |
appropriate command into an MS-DOS window. When you double-click the exe file it |
launches an MS-DOS console, runs NQC within it, then since NQC finishes almost |
immediately, the entire window disappears.</P> |
<P>Some people prefer command line based tools because they allow you to use the |
text editor of your choice, etc. It also makes for identical behavior under |
Windows, Mac, and Linux. In order to use the command line version of NQC you'll |
need to do two things:</P> |
<P>1) Use some sort of text editor (such as Notepad) to edit and save a source |
file for NQC to compile.</P> |
<P>2) From an MS-DOS window type the appropriate NQC command. Its usually best |
to either put all of your programs and nqc.exe in the same directory, or make |
sure the directory containing NQC is in your command path. For example, to |
compile and download the program "test.nqc" using the default serial port you |
would type the following command:</P> |
<P>nqc -d test.nqc</P> |
<P>An alternative is to use the <A href="http://www.cs.uu.nl/~markov/lego/" |
target=_parent>RCX Command Center</A> by Mark Overmars, which is a familiar |
Windows style application that provides a front end to the NQC compiler.</P> |
<P></P> |
<HR align=left> |
<P></P> |
<H3><A name=-Trcx2></A>I'm using the RCX 2.0 firmware but get errors when trying |
to call 2.0 functions (e.g. SetUserDisplay). What's wrong?</H3> |
<P>When NQC compiles a program it needs to know what kind of programmable brick |
you want it to generate code for (this is called the <I>target</I> for the |
compile). By default, NQC assumes you are targetting RCX 1.0. If you want to use |
RCX 2.0 features, you need to tell the compiler you are using an RCX 2.0 target. |
If you are using a command line version of NQC, then add <TT>-Trcx2</TT> to the |
command line:</P> |
<P><TT>nqc -Trcx2 -d foo.nqc</TT></P> |
<P>If you don't want to type <TT>-Trcx2</TT> all the time, then just use the |
environment variable <TT>NQC_OPTIONS</TT> - NQC reads this environment variable |
and inserts any options in this variable at the front of the command line. For |
example, if <TT>NQC_OPTIONS</TT> was set to <TT>-Trcx2</TT> and you issued the |
following command</P> |
<P><TT>nqc -d foo.nqc</TT></P> |
<P>NQC would behave as if you actually typed</P> |
<P><TT>nqc -Trcx2 -d foo.nqc</TT></P> |
<P>The specifics of setting environment variables depends on your operating |
system and shell. For example, under Windows you could type the following in a |
command shell:</P> |
<P><TT>set NQC_OPTIONS=-Trcx2</TT></P> |
<P>If you want to always use RCX 2.0, then you can make this setting permament |
by editing the AUTOEXEC.BAT file and adding the above command to the end of the |
file. This way, the variable will get set every time Windows is started.</P> |
<P>If you are using a GUI based version of NQC (such as MacNQC), then there |
should be some preference setting for the target - just make sure it is set to |
"RCX 2.0". Unfortunately, RcxCC does not have an "RCX 2.0" setting, but there is |
a workaround. Leave the target as "RCX" (which means RcxCC won't specify any |
target information and just rely on the fact that NQC defaults to RCX), then use |
the <TT>NQC_OPTIONS</TT> environment variable to specify RCX 2.0 (as described |
above).</P> |
<P></P> |
<HR align=left> |
<P></P> |
<H3><A name=errors></A>How can I redirect errors to a file?</H3> |
<P>Compile errors are written to stderr, not stdout. This is to allow the |
calling program to separate errors from the program listing (-l option) that |
appears on stdout. The normal redirection facility of a shell only redirects |
stdout, thus the errors will still be printed to the screen. Most shells have |
additional syntax that allows the stderr stream to be redirected (use |
"option->" in MPW, or "2>" for WinNT). I do not know of any mechanism to |
redirect stderr in Win95 command.com.</P> |
<P>In addition, nqcc now supports (verion 1.1 b1) the ability to route error |
messages to stdout with the -E option.</P> |
<P></P> |
<HR align=left> |
<P></P> |
<H3><A name=spiritinstall></A>Where is Spirit.ocx? RcxCC complains that it is |
not installed.</H3> |
<P>NQC has never used Spirit.ocx, but RcxCC used to require Spirit.ocx for |
communication with the RCX. Lego no longer supports Spirit.ocx as of RIS 2.0, |
but fortunately RcxCC has been updated to no longer require it. In addition, |
RcxCC has been renamed to BricxCC (due to trademark concerns from Lego). You can |
download the latest version of BricxCC <A |
href="http://members.aol.com/johnbinder/bricxcc.htm" target=_blank>here</A>.</P> |
<P></P> |
<HR align=left> |
<P></P> |
<H3><A name=usb></A>How do I get NQC to work with my USB IR tower?</H3> |
<P>Presently, USB towers are only supported under Mac OS X and Windows. I will |
be releasing Mac OS 9 support shortly. Some other developers are working on a |
Linux solution.</P> |
<P>USB support is in beta test and requires version 2.4a4 of NQC.</P> |
<P><B>IMPORTANT</B>- you need to tell NQC that you want it to look for a USB |
tower, otherwise it assumes you have a serial tower and uses the default serial |
port for your operating system (e.g. COM1 under Windows). Add <TT>-Susb</TT> to |
the command line or set the <TT>RCX_PORT</TT> environment variable to |
<TT>usb</TT>. When adding a command line option, put it near the beginning of |
the command:</P> |
<P><TT>nqc -Susb -d test.nqc</TT></P> |
<P><B>Windows only:</B> NQC uses the USB driver installed by the Lego RIS 2.0 |
software, so you will need to install the RIS software and run it once with the |
USB tower connected in order for the driver to be correctly installed.</P> |
<P><B>Mac OS X only:</B> NQC talks directly to the USB tower. There is no |
driver, so you'll never see the tower show up in /dev.<BR></P> |
<P><SPAN style="FONT-WEIGHT: bold">FreeBSD (unoffical port):</SPAN> As of NQC |
2.5 a5, the USB tower is supported when running a FreeBSD build from 02/28/03 or |
later (the upcoming FreeBSD 5.1 will work).<BR></P> |
<P></P> |
<HR align=left> |
<P></P> |
<H3><A name=control></A>How do I use a computer to control the RCX?</H3> |
<P>There are two basic ways to do this: send raw commands to the RCX, or send |
'messages' which are then listened to by a program running on the RCX.</P> |
<H4>Sending Messages</H4> |
<P>This is generally the simplest way to interact with the RCX. First you write |
a program for the RCX that continuously checks for received messages (using the |
Message() and ClearMessage() calls) and then dispatches the messages |
accordingly. The messages may have any value between 1 and 255. There is no |
predefined meaning for these messages - your program can do whatever it wants |
with each message.</P> |
<P>There are several ways to send the message. You can use another RCX (or a |
Scout) by calling the SendMessage() function. You can also use the nqc command |
with the -msg option, for example to send message #3:</P> |
<P>nqc -msg 3</P> |
<P>You can use the LEGO remote control to send messages 1, 2, or 3. It is also |
possible to send the message by sending the appropriate command packet (see |
below)</P> |
<H4>Sending Raw Commands</H4> |
<P>Sending raw commands gives you complete control over the RCX. The commands |
(a.k.a. opcodes or bytecodes) and the general packet format are unofficially |
documented at <A href="http://graphics.stanford.edu/~kekoa/rcx/" |
target=_parent>http://graphics.stanford.edu/~kekoa/rcx/</A>. For example, to |
make the RCX play system sound #3 (upward tones), you would send a two-byte |
command (shown in hex):</P> |
<P>51 03</P> |
<P>Messages are just a specific type of command - F7 followed by the message |
value, so message #4 would be the packet</P> |
<P>F7 04</P> |
<P>If you are using NQC, you can let NQC take care of all the details of packet |
formatting, getting an acknowledgement from the RCX, and retrying if a failure |
occurs. You do this with the -raw option, which takes a single parameter listing |
all of the bytes (in hex format) for the command:</P> |
<P>nqc -raw 5103</P> |
<P>If you are writing your own program, you can build up the packet yourself. A |
suitable packet (for the plays sound command) would be:</P> |
<P>55 ff 00 51 ae 03 fc 54 ab</P> |
<H3> |
<HR align=left> |
<A name=irusb></A>How do I use the IR tower with a USB Macintosh?</H3> |
<P>Since a USB version of the IR tower doesn't exist (yet), you will need a USB |
to serial converter (such as the Keyspan TWIN adapter). If the adapter provides |
a 9-pin serial connector, then you should be able to use the standard Mindstorms |
cable between the adapter and the IR tower. If the adapter provides mac-style |
serial connector, then you will also need an appropriate cable as desribed <A |
href="http://www.baumfamily.org/lego/macmind/cables.html">here</A>.</P> |
<P><I>Note: I have heard several reports of the Palm USB adapter not working. I |
am not sure if this is a problem with the adapter itself, or some unusual |
interaction between it and the OS. If you have been able to use a Palm USB |
adapter with MacNQC or NQC, please let me know. I would like to get a definitive |
answer on whether this adapter can be made to work. Personally, I use the |
Keyspan Twin adapter (USA-28X), and I've heard that both the Keyspan PDA adapter |
(USA-19) and Xircom PortGear USB also work.</I></P> |
<P>If you are using MacNQC, then the popup menu in the Preferences dialog box |
will list all available serial ports (including those provided by USB |
converters).</P> |
<P>If you are using the MPW version of NQC, then you will need to specify the |
serial port either on the command line (using the -S option) or in the RCX_PORT |
environment variable. Both methods require that you know the name of the serial |
port driver. The easiest way to make this work is to use the adapter's control |
panel to configure the serial port to "emulate the printer port". This will |
cause the serial port to be named "B", thus you could do either of the |
following:</P> |
<P><TT>nqc -SB -d foo.nqc</TT></P> |
<P>or</P> |
<P><TT>set -e RCX_PORT B</TT></P> |
<P><TT>nqc -d foo.nqc</TT></P> |
<P>If you choose the second option, the <TT>set</TT> command only needs to be |
executed once per MPW session - adding it to a Startup file will make life |
simpler.</P> |
<H3> |
<HR align=left> |
<A name=irdebug></A>Help, RcxCC/MacNQC/NQC can't communicate with my RCX!</H3> |
<P>In most cases, problems like this boil down to a configuration issue, bad |
cable, or dead battery. Here are some troubleshooting tips.</P> |
<P>If the program says it cannot open the serial port, then this is almost |
certainly a configuration problem. For MacNQC, make sure you have a valid serial |
port selected in the Preferences dialog box. For NQC, make sure you have |
specified the appropriate serial port name (default is modem port, "B" is the |
printer port, see <A |
href="http://www.baumfamily.org/nqc_old/doc/faq.html#irusb">above</A> for USB |
based macs). For RcxCC, I suggest trying once with auto-detection, and if that |
fails, then manually set the serial port in the RcxCC program.</P> |
<P>If the program reports that it cannot communicate with the IR device, then |
either the program is talking to the wrong serial port (see the previous item), |
or there's a problem with the cable and/or battery. Make sure you have a fresh |
9v battery installed in the IR tower, and if possible use the cable supplied by |
Lego.</P> |
<P>If the program reports that it cannot communicate with the RCX, then |
communication with the IR tower is probably OK, and the problem is between the |
tower and the RCX.</P> |
<UL> |
<LI>Certain light sources (bright sunlight, certain projection TVs) can cause |
interference...try using a towel or other item to shield the IR tower and RCX |
from other light. |
<LI>The tower and RCX should be about 6 inches apart. Tty the switch on the |
front of the tower in both positions - some people report better success with |
"near" mode, and some with "far" mode. |
<LI>Make sure you have firmware downloaded into the RCX. If the display only |
shows "1" on it, then firmware isn't installed yet...download the firmware |
using the Lego software or the -firmware option for NQC (the firmware itself |
must be copied from the Lego CD or downloaded from <A |
href="http://www.legomindstorms.com/" |
target=_blank>http://www.legomindstorms.com/</A>). Once the firmware is |
installed you should see something like "00.00 1" on the display. </LI></UL> |
<P>If you have a terminal program (e.g. HyperTerminal for Windows, Zterm for the |
Mac), then you can check the IR tower directly. Open up a session to the |
appropriate serial port at 2400 baud, 1 stop bit, odd parity, and 8 data bits. |
Turn off local echo. Start typing a few characters. A green LED on the front of |
the IR tower should light up, and the characters you typed should be echoed back |
to the screen (with an occasional mistake depending on how much interference |
there is).</P> |
<P>If you are using the command line version of NQC, then you can have it log |
any serial communication. This is helpful in trying to isolate where |
communication is failing. A good general-purpose test is</P> |
<P><TT>nqc -v -raw 10</TT></P> |
<P>Please include the output of this test in any e-mail to me regarding IR |
communication problems.</P> |
<P></P> |
<HR align=left> |
<P></P> |
<H3><A name=irlaptop></A>How do I use my computer IR port with the RCX?</H3> |
<P>You can't. At least not easily.</P> |
<P>Most computers use the IrDA protocols for IR communication. The RCX uses a |
proprietary protocol developed by Lego for communication. Quite simply, these |
protocols are incompatable.</P> |
<H4>What about IrCom? Doesn't that let me use the IR port as a regular serial |
port?</H4> |
<P>Yes and no. From an application's point of view, IrCom looks like a serial |
port (complete with hardware handshaking and control lines). However, the IrCom |
layer actually resides on top of normal IrDA communication, so what appears to |
the application to be async serial communication, is in fact a bunch of IrDA |
packets getting sent back and forth. Since the RCX doesn't understand IrDA |
packets, it can't understand IrCom either.</P> |
<H4>What if I access the hardware directly?</H4> |
<P>Even if you bypassed the IrDA protocol stacks on the computer and somehow |
managed to control the hardware directly (a task that is likely to be different |
for different computer vendors), it still may not be possible. The Lego |
protocols encode bits using a 38kHz carrier frequency. This frequency is |
generated an filtered in hardware. IrDA doesn't really use a carrier frequency, |
and the actual specs on bit times provide a lot of lattitued to device |
manufacturers. As a result, it is difficult to get generic IrDA hardware to |
generate the required 38kHz carrier reliably. Filtering the recieve side is even |
more problematic.</P> |
<P>I would hesitate to say that this problem is "impossible" to solve, but |
people have been asking about this for over a year, and to my knowledge no |
general solution has emerged. There are, however, specialized solutions for |
specific pieces of hardware (usually PDAs or other handled devices such as a |
Palm III).<BR></P> |
<HR align=left> |
<H3><A name=irxp></A>How can I get the USB IR tower to work under Win XP?</H3> |
<P>There appear to be some timing related difficulties when using NQC with the |
USB tower under Windows XP. If you are having difficulty downloading |
programs, open the LEGO USB Tower control panel, select the Advanced Tab, and |
set the Read Timeout to 300 msec. This generally fixes the |
problem.<BR></P> |
<H3> |
<HR align=left> |
<A name=spirit></A>Why doesn't NQC use the Spirit OCX?</H3> |
<P>The Spirit OCX is only available on the PC. My personal preference is to use |
a Macintosh, so I needed to have a platform independent means for communicating |
with the RCX.</P> |
<H3> |
<HR align=left> |
<A name=vision></A>Does NQC Support Vision Command?</H3> |
<P>Vision command programs run in two places...all of the image processing |
software runs on the PC, then sends messages to a program running on the RCX. |
The messages that are sent are ordinary RCX messages, and by using Message() and |
ClearMessage(), NQC programs can respond to them. Mike Gasperi calls this "<A |
href="http://www.plazaearth.com/usr/gasperi/vcsensor.htm" target=_blank>Using |
Vision Command as a Smart Sensor</A>".</P> |
<P>Note that I have never tried this myself (Vision Command doesn't run on Mac), |
so I can't really help if things don't work as expected.</P> |
<H3> |
<HR align=left> |
</H3> |
<H3><A name=build></A>What computers/tools/etc do you use to develop NQC?</H3> |
<P>All of the NQC development takes place on my Macintosh PowerBook. I use |
Metrowerks CodeWarrior to write and debug the code as a Macintosh |
application.</P> |
<P>The Code Warrior project also has targets to build the MPW version of NQC as |
well as the Win32 version. Regression tests on the compiler are done on the PPC |
version of the MPW tool (via a couple of MPW scripts and a bunch of sample |
programs). Some minimal testing of the Win32 version is done from within Virtual |
PC - I just make sure that the build went fine and that the serial port works |
since that is really the only code custom to Win32.</P> |
<P>For the source release, I boot into Mac OS X, copy over the NQC source tree |
and build it (using make, gcc, etc). A simple test (again just to make sure the |
serial port code for Unix is working) is performed. I then use a shell script to |
create a source release tree, strip out any unwanted binaries, and package the |
entire thing up as a .tar.gz. Recently, I've also been packaging up a Mac OS X |
binary version.</P> |
<P>So there you have it...development for Mac, Windows, and Unix all done on my |
trusty PowerBook.</P> |
<P></P> |
<HR align=left> |
<TABLE height=24 cellSpacing=0 cellPadding=0 width="100%" border=0> |
<TBODY> |
<TR> |
<TD width="50%" height=17> <A |
href="http://www.baumfamily.org/nqc_old/doc/index.html" |
target=_parent>[Home]</A></TD> |
<TD align=right width="50%"> <IMG height=31 |
src="NQC FAQ_soubory/contact.gif" width=128 align=bottom |
naturalsizeflag="3"></TD></TR></TBODY></TABLE></BODY></HTML> |
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Variable 3: 0 |
Variable 3: 5 |
Variable 3: 0 |
Variable 3: 0 |
Variable 3: 0 |
Variable 3: 0 |
Variable 3: 0 |
Variable 3: -15 |
Variable 3: 0 |
Variable 3: 0 |
Variable 3: 0 |
Variable 3: -6 |
Variable 3: 0 |
Variable 3: 0 |
Variable 3: 0 |
Variable 3: 0 |
Variable 3: 0 |
Variable 3: 0 |
Variable 3: 0 |
Variable 3: -11 |
Variable 3: 0 |
Variable 3: 0 |
Variable 3: -8 |
Variable 3: 0 |
Variable 3: 0 |
Variable 3: 0 |
Variable 3: 0 |
Variable 3: 0 |
Variable 3: 0 |
Variable 3: 0 |
Variable 3: 0 |
Variable 3: 0 |
Variable 3: 0 |
Variable 3: 0 |
Variable 3: 0 |
Variable 3: 0 |
Variable 3: 3 |
Variable 3: 0 |
Variable 3: -8 |
Variable 3: 0 |
Variable 3: 0 |
Variable 3: 0 |
Variable 3: 0 |
Variable 3: 0 |
Variable 3: 0 |
Variable 3: 0 |
Variable 3: -10 |
Variable 3: 0 |
Variable 3: 0 |
Variable 3: 3 |
Variable 3: 0 |
Variable 3: 0 |
Variable 3: -16 |
Variable 3: 0 |
Variable 3: 0 |
Variable 3: -17 |
Variable 3: 0 |
Variable 3: 0 |
Variable 3: 0 |
Variable 3: 0 |
Variable 3: 7 |
Variable 3: 1 |
Variable 3: 0 |
Variable 3: -3 |
Variable 3: 0 |
Variable 3: 0 |
Variable 3: 6 |
/roboti/callis/ping.bak |
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0,0 → 1,43 |
/* |
* 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; |
} |
/roboti/callis/ping.nqc |
---|
0,0 → 1,43 |
/* |
* 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 100 // 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; |
} |
/roboti/callis/pokus.bak |
---|
0,0 → 1,14 |
#pragma reserve 0 3 |
int n; |
task main() |
{ |
PlaySound(SOUND_DOUBLE_BEEP); |
asm{0x14, 3, 2, 10, 0}; // setv 3, constant, 10 |
CreateDatalog(100); |
while (true) |
{ |
AddToDatalog(n); |
SetUserDisplay(n++, 0); |
Wait(100); |
} |
} |
/roboti/callis/pokus.nqc |
---|
0,0 → 1,15 |
#pragma reserve 0 3 |
#define n @3 // VAR 3 |
task main() |
{ |
PlaySound(SOUND_DOUBLE_BEEP); |
// asm{0x14, 3, 2, 10, 0}; // setv 3, constant, 10 |
CreateDatalog(100); |
while (true) |
{ |
AddToDatalog(n); |
n=n+1; |
SetUserDisplay(n, 0); |
Wait(100); |
} |
} |
/roboti/callis/reset.nqc |
---|
0,0 → 1,10 |
task main() |
{ |
SetSensor (SENSOR_1, SENSOR_TOUCH); |
SetSensor (SENSOR_2, SENSOR_TOUCH); |
SetSensor (SENSOR_3, SENSOR_TOUCH); |
Float (OUT_A); |
Float (OUT_B); |
Float (OUT_C); |
StopAllTasks (); |
} |
/roboti/callis/stopar_pravidla.htm |
---|
0,0 → 1,9 |
<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0 Frameset//EN"> |
<!-- saved from url=(0032)http://www.robotika.sk/mains.htm --> |
<HTML><HEAD><TITLE>Slovenská verzia</TITLE> |
<META http-equiv=Content-Type content="text/html; charset=iso-8859-2"> |
<META content="MSHTML 6.00.2800.1400" name=GENERATOR></HEAD><FRAMESET border=0 |
frameSpacing=0 frameBorder=0 cols=137,*><FRAME name=menu |
src="stopar_pravidla_soubory/menus.htm" frameBorder=0 noResize |
scrolling=no><FRAME name=telo src="stopar_pravidla_soubory/follower.htm" |
frameBorder=0 noResize></FRAMESET></HTML> |
/roboti/callis/stopar_pravidla_soubory/follower.htm |
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0,0 → 1,195 |
<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0 Transitional//EN"> |
<!-- saved from url=(0044)http://www.robotika.sk/contest/follower.html --> |
<HTML><HEAD><TITLE>Istrobot - pravidla: Stopar</TITLE> |
<META http-equiv=Content-Type content="text/html; charset=windows-1250"><LINK |
title="Orange Style for Robots" href="follower_soubory/istrobot.css" |
type=text/css rel=StyleSheet> |
<META content="MSHTML 6.00.2800.1400" name=GENERATOR></HEAD> |
<BODY bgColor=white><FONT face=Helvetica,Arial size=-1> |
<P align=center>[<A |
href="http://www.robotika.sk/contest/novinky.html">Novinky</A>] [<A |
href="http://www.robotika.sk/contest/pravidla.html">Pravidlá</A>] [<A |
href="http://www.robotika.sk/contest/roboti.html">Roboti</A>] [<A |
href="http://www.robotika.sk/contest/poradna.html">Poradòa</A>] [<A |
href="http://www.robotika.sk/contest/archive/index.html">Archív</A>] |
<P></P> |
<H1>Propozície kategórie Stopár</H1><IMG height=4 alt="" |
src="follower_soubory/bluelin.gif" width=500 align=top border=0> |
<P><BR> |
<P></P> |
<H3>Súaná úloha </H3> |
<P>Zostroji elektronicky riadeného autonómneho mobilného robota, ktorý prejde |
po urèenej dráhe a v èasovom limite do cie¾a. Smer a trasa je daná |
nama¾ovaným tmavým pruhom, na dráhe sú umiestnené rozlièné prekáky. |
<P>Toto zadanie prestavuje reálnu úlohu napríklad pre automatické skladové |
manipulátory a podobne. |
<P></P> |
<H3>Dráha</H3>Podklad dráhy bude svetlý (biely) s tmavou (èiernou) vodiacou |
èiarou írky 15+/-1 mm. Celková dåka dráhy nepresiahne 20 m. Materiál |
bude papier, drevo, linoleum alebo podobné materiály. |
<P>Najmení polomer oblúkov na trati bude 10 cm. Celkové prevýenie |
nepresiahne 3 cm, maximálne stúpanie a klesanie je 5%. Na dráhe, |
podobne ako v reálnom svete, sa môu vyskytova náhodné prekáky (preruená |
vodiaca èiara, prekáka na vodiacej èiare, zmena osvetlenia èiary a iné). |
<P>Úlohou robota nie je nájs správnu cestu (nebudú iadne kriovatky a |
odboèky), ale výhradne sledova nama¾ovanú èiaru. Na dráhe sa môe vyskytnú aj |
tunel s minimálnym prierezom 25x25 cm. Dráha sa poèas súae nemení, |
take robot sa môe uèi a napr. rovné úseky pri ïalej jazde prechádza |
rýchlejie. |
<P>Robot vytartuje z kruhu o polomere 30 cm oznaèeného nápisom |
TART, za ktorým nasleduje asi 50 cm dlhý priamy úsek, na ktorom musí nájs |
stopu a nastavi sa na òu. Za týmto úsekom sa nachádza tartovacia èiara, po |
preruení svetelného lúèa (10 mm nad povrchom dráhy) ¾ubovo¾nou èasou |
robota sa zaène mera èas. |
<P>Èasomiera sa zastaví po preruení podobného lúèa na konci dráhy. |
<P></P> |
<H3>Èinnos robota</H3> |
<P>Po umiestnení robota do tartovacieho kruhu a jeho zapnutí súaiaci nesmie |
do jeho èinnosti nijakým spôsobom zasahova. Robot musí by riadený výluène |
vstavanými elektronickými obvodmi. |
<P>Po prekroèení tartovacej èiary robot nesmie opusti dráhu vyznaèenú tmavou |
èiarou s výnimkou obchádzania prekáky. Pri pohybe nesmie zanecháva iadne |
stopy a znaèky. Na dráhe nesmie osta ani iadna jeho súèas. |
<P>Pri pokodení súanej dráhy je robot diskvalifikovaný. |
<P></P> |
<H3>Rozmery a ve¾kos robota</H3> |
<P>Rozmer robota nesmie v iadnom smere presiahnu 25cm. Uvedomte si aj |
obmedzenia dané tunelmi a polomermi oblúkov na dráhe. |
<P>Minimálne rozmery nie sú obmedzené. Hmotnos nie je obmedzená. |
<P></P> |
<H3>Kontrukcia a materiály</H3> |
<P>Na kontrukciu sa nekladú iadne obmedzenia. Jedinou poiadavkou je to, aby |
robot bol výrobkom súaiaceho (súaiacich). To nevyluèuje komerèné stavebnice |
(LEGO, Fischertechnik), iba hotové výrobky. |
<P></P> |
<H3>Senzorika</H3> |
<P>Nie sú kladené iadne obmedzenia na typ, poèet a rozmery pouitých snímaèov, |
ak neporuujú iné pravidlá. |
<P>Súaiaci nesmú poui iadne vonkajie pomôcky na zlepenie navigácie |
(nálepky, znaèky, zrkadielka,...) |
<P></P> |
<H3>Elektronika</H3> |
<P>iadna èas robota nesmie pracova s väèím napätím ako je 24V. Celková |
spotreba by nemala by viac ako 20A. Výnimky z tohto pravidla schva¾uje |
porota. Vetky riadiace obvody musia by súèasou robota, nie je moné riadi |
jeho pohyb napríklad z externého PC pripojeného èi u káblom, alebo |
bezdrôtovo. |
<P>Na pouité elektronické súèiastky nie je iadne obmedzenie. |
<P>Zdroje energie sú problém súaiacich. |
<P></P> |
<H3>Poradie úèastníkov a priebeh súae</H3> |
<P>Poradie súaiacich bude vylosované tesne pred súaou. Úèastníci musia |
absolvova predpísanú dráhu v poradí urèenom losovaním. Kadý súaiaci |
robot môe prejs dráhu trikrát vo vylosovanom poradí. Èas medzi pokusmi môe |
úèastník vyui na ¾ubovo¾né opravy a úpravy. Ak sa vak nedostaví do 1 minúty |
po výzve na tart, stráca právo absolvova pokus. V prípade, e sa prihlási |
ve¾a súaiacich, porota môe zníi poèet pokusov, prípadne vyhlási |
kvalifikaèné kolo. |
<P></P> |
<H3>Èasové limity</H3> |
<P>Na prejdenie dráhy je stanovený èasový limit 5 minút. Po piatich minútach sa |
meranie èasu zastaví a pokus sa zruí. Aj napriek tomuto handicapu vak nie je |
diskvalifikovaný. Zastavenie merania èasu nemá nijaký vplyv na ostatné pokusy. |
<P></P> |
<H3>Hodnotenie a ceny</H3> |
<P>Kadý prihlásený robot, ktorý prejde stanovenú dráhu, dostane diplom. Víazom |
sa stane robot s najniím dosiahnutým èasom zo vetkých pokusov. Okrem |
toho môe porota udeli cenu za najlepiu kontrukciu a najelegantnejiu |
kontrukciu (kapotá). |
<P></P> |
<H3>Diskvalifikácia</H3> |
<P>Vo veobecnosti platí, e pri kadom poruení pravidiel je robot zo súae |
vylúèený. To platí najmä v týchto situáciach: |
<UL> |
<LI>nebezpeèné správanie, ohrozenie bezpeènosti, |
<LI>pokodenie dráhy, |
<LI>ak sa robot poèas jazdy rozpadne. </LI></UL> |
<P></P> |
<H3>Bezpeènos</H3> |
<P>Tri zákony robotiky: |
<OL type=1> |
<P> |
<LI><B>Robot nesmie ublíi èloveku</B> alebo svojou neèinnosou dopusti, aby |
bolo èloveku ublíené. |
<LI><B>Robot musí poslúchnu príkaz èloveka</B>, s výnimkou prípadov, keï |
je taký príkaz v rozpore s prvým zákonom. |
<LI><B>Robot musí chráni sám seba pred znièením</B>, s výnimkou |
prípadov, keï je to v rozpore s prvým a druhým zákonom. </LI></OL> |
<P> |
<DIV align=right><EM>Isaac Asimov: The Complete Robot, Nightfall Inc., |
1982.</EM> </DIV> |
<P>V prípade, e zariadenie nebude spåòa základné bezpeènostné predpisy, |
porota ho nesmie pripusti k súai a nesmie dovoli jeho prevádzkovanie. |
<P>Kadý robot, ktorý by mohol ohrozi úèastníkov, divákov, alebo zariadenie, |
bude vypnutý. |
<P> |
<P><BR> |
<P><BR></P> |
<H3>Klimatické podmienky</H3> |
<P>Súa bude prebieha v bených klimatických podmienkach (T = 270 - |
310 K, <I>p</I> = 90 - 120 kPa, 0 - 90% RH). |
<P>Skutoènú úroveò osvetlenia scény nie je moné vopred urèi. Pred súaou bude |
vyhradený èas, ktorý môu súaiaci vyui na optimálne nastavenie citlivosti |
snímaèov. Organizátor nemôe zaruèi, e diváci nebudú vrha na dráhu tiene. |
<P>Upozornenie: Kontruktéri si musia uvedomi, e moderné filmové a |
fotografické prístroje pouívajú zábleskové zariadenia a infraèervené vysielaèe |
na zaostrovanie. Pretoe priebeh súae bude zaznamenávaný, pri kontrukcii |
treba poèíta aj s takýmito poruchovými signálmi. |
<P></P> |
<H3>Dokumentácia</H3> |
<P>Kadý súaiaci musí odovzda pred súaou dokumetáciu popisujúcu |
elektroniku, kotrukciu a riadiaci algoritmus. Najlepia forma je <TT>html</TT>, |
organizátor poskytne priestor na jej uverejnenie na svojom serveri. |
<P></P> |
<H3>Porota</H3> |
<P>Nad priebehom súae a dodriavaním pravidiel bdie porota. |
<P>Porota je najmenej trojèlenná, skladá sa zo zástupcov fakulty, tudentov a |
sponzorov. |
<P>Výroky poroty sú záväzné vo vetkých sporných bodoch i v otázkach |
výkladu pravidiel. |
<P></P> |
<H3>Kedy a kde?</H3> |
<P>Súa bude prebieha v priestoroch Fakulty elektrotechniky a informatiky |
na Ilkovièovej 3 v Bratislave 23. apríla 2003. Úèastníci budú ma monos |
otestova dráhu (pravdae nie jej súaný tvar) v stanovených termínoch a deò |
pred súaou. |
<P></P> |
<H3>Podpora úèastníkov</H3> |
<P>Organizátor (KAR) umoní prihláseným úèastníkom pracova na zariadeniach KAR |
a pod¾a monosti ich bude pri kontrukcii podporova. Pracovníci katedry |
prispejú odbornými radami, oddelenie AP poskytne vývojové prostriedky pre |
procesory radu 8051. |
<P>Súa môe by doplnená ukákami profesionálnych robotov, prípadne |
demontráciami sponzorujúcich firiem. |
<P></P> |
<H3>Registrácia a prihláky</H3> |
<P>Súae sa môu zúèastni jednotlivci a tímy (max. 5-èlenné) bez oh¾adu na vek |
èi zamestnanie. |
<P>Predbenú prihláku treba posla najneskôr do 1. februára 2003 na adresu |
Ing. Richard BALOGH, Katedra automatizácie a regulácie, FEI STU, |
Ilkovièova 3, 812 19 Bratislava, e-mail: <A |
href="mailto:balogh@elf.stuba.sk"><TT>balogh@elf.stuba.sk</TT></A>, tel. +421 - |
2 - 602 91 411. Prihlási sa je moné aj pomocou formulára na www stránke |
<P align=center><A |
href="http://www.robotika.sk/contest/pravidla.html#prihlaska"><TT>http://www.robotika.sk/</TT></A> |
<P>Tam nájdete aj pravidlá, kontrukèné návody, rady, inpiraèné obrázky a |
odkazy na podobné súae vo svete. |
<P>Akáko¾vek pripomienka a podpora je vítaná. <A |
href="http://www.robotika.sk/contest/pravidla.html#prihlaska"></P> |
<H3>Prihláka...</H3></A> |
<P><BR></FONT> |
<P align=center>[<A |
href="http://www.robotika.sk/contest/novinky.html">Novinky</A>] [<A |
href="http://www.robotika.sk/contest/pravidla.html">Pravidlá</A>] [<A |
href="http://www.robotika.sk/contest/roboti.html">Roboti</A>] [<A |
href="http://www.robotika.sk/contest/poradna.html">Poradòa</A>] [<A |
href="http://www.robotika.sk/contest/archive/index.html">Archív</A>] |
<P><BR> |
<P> |
<HR> |
<P align=center><FONT size=-2>© 2002 Katedra automatizácie a regulácie FEI |
STU<BR>Ilkovièova 3, 812 19 Bratislava <BR>Posledná zmena: 19. septembra |
2002.<BR>Zodpovedný èlovek: <I><A href="mailto:balogh@elf.stuba.sk">Richard |
Balogh</A></I>. </FONT></P></BODY></HTML> |
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/roboti/callis/stopar_pravidla_soubory/follower_soubory/istrobot.css |
---|
0,0 → 1,24 |
BODY { |
PADDING-RIGHT: 1ex; PADDING-LEFT: 1ex; FONT-SIZE: 10pt; BACKGROUND: white; PADDING-BOTTOM: 1ex; MARGIN: 1ex; COLOR: black; PADDING-TOP: 1ex; FONT-FAMILY: Verdana, Geneva, Arial, Helvetica, sans-serif |
} |
A:link { |
FONT-WEIGHT: bold; COLOR: #ff8c1d; TEXT-DECORATION: none |
} |
A:visited { |
FONT-WEIGHT: bold; COLOR: #ff8c3d; TEXT-DECORATION: none |
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A:hover { |
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A:active { |
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H1 { |
FONT-WEIGHT: normal; FONT-SIZE: 3em; WIDTH: 80%; BORDER-BOTTOM: #ffd700 thin solid; FONT-STYLE: normal; FONT-VARIANT: normal |
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H3 { |
FONT-WEIGHT: normal; FONT-SIZE: 1.5em; WIDTH: 50%; COLOR: black; BORDER-BOTTOM: #ffd700 thin solid; FONT-STYLE: normal; FONT-VARIANT: normal |
} |
/roboti/callis/stopar_pravidla_soubory/menus.htm |
---|
0,0 → 1,99 |
<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0 Transitional//EN"> |
<!-- saved from url=(0032)http://www.robotika.sk/menus.htm --> |
<HTML><HEAD><TITLE></TITLE> |
<META http-equiv=Content-Type content="text/html; charset=windows-1250"> |
<META content="MSHTML 6.00.2800.1400" name=GENERATOR> |
<SCRIPT language=JavaScript> |
<!-- |
function fwLoadMenus() { |
if (window.fw_menu_0) return; |
window.fw_menu_0 = new Menu("root",115,21,"Verdana, Arial, Helvetica, sans-serif",12,"#ffff00","#ffffff","#000099","#0066ff"); |
fw_menu_0.addMenuItem("Novinky","window.open('./contest/novinky.html', 'telo');"); |
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fw_menu_0.addMenuItem("Roboti","window.open('./contest/roboti.html','telo');"); |
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fw_menu_0.fontWeight="normal"; |
fw_menu_0.hideOnMouseOut=true; |
fw_menu_0.writeMenus(); |
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</SCRIPT> |
<SCRIPT language=JavaScript1.2 src="menus_soubory/fw_menu.js"></SCRIPT> |
<SCRIPT language=javascript> |
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</HEAD> |
<BODY text=#000000 vLink=#ff00ff aLink=#ff0000 link=#0000ff leftMargin=0 |
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<SCRIPT language=JavaScript1.2>fwLoadMenus();</SCRIPT> |
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<TBODY> |
<TR> |
<TD><IMG height=15 alt="" src="menus_soubory/fuga.gif" width=135 |
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<TR> |
<TD><A onmouseover="window.status='';return true" |
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alt=Novinky src="menus_soubory/novinky.jpg" width=135 border=0></A></TD></TR> |
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<TD><A onmouseover="window.status='';return true" |
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alt="O nás" src="menus_soubory/onas.jpg" width=135 border=0></A></TD></TR> |
<TR> |
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<TR> |
<TD><A onmouseover="window.status='';return true" |
href="http://www.robotika.sk/holls/2003/index.html" target=telo><IMG |
height=40 alt="Robotické prázdniny" src="menus_soubory/pra.jpg" width=135 |
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<TR> |
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<TR> |
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<TD><A |
onmouseover="inactive.src=active.src; window.status='English version';return true" |
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alt="" src="menus_soubory/enverof.jpg" width=135 border=0 |
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/roboti/callis/stopar_pravidla_soubory/menus_soubory/enverof.jpg |
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/roboti/callis/stopar_pravidla_soubory/menus_soubory/fw_menu.js |
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/roboti/callis/stopar_pravidla_soubory/menus_soubory/kon.jpg |
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/roboti/callis/stopar_pravidla_soubory/menus_soubory/menu_r2_c1.gif |
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/roboti/callis/stopar_pravidla_soubory/menus_soubory/novinky.jpg |
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/roboti/callis/stopar_pravidla_soubory/menus_soubory/onas.jpg |
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/roboti/callis/stopar_pravidla_soubory/menus_soubory/pra.jpg |
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/roboti/callis/stopar_pravidla_soubory/menus_soubory/pro.jpg |
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/roboti/callis/sumo.bak |
---|
0,0 → 1,60 |
#define THRESHOLD 44 |
#define POJEZD OUT_A |
#define VYHAZ OUT_C |
task main() |
{ |
Wait(500); // 5s |
SetSensor(SENSOR_2,SENSOR_LIGHT); // senzor na caru |
SetSensor(SENSOR_3, SENSOR_TOUCH); // poloha vyhazovadla |
SetSensorMode (SENSOR_3, SENSOR_MODE_PULSE); // koncak bude pocitat pulzy |
while (true) |
{ |
PlaySound (SOUND_CLICK); |
start k_care; |
Wait(1000); // 10s |
stop utok; |
stop k_care; |
stop bumper; |
} |
} |
task k_care() |
{ |
SetPower (POJEZD,OUT_HALF/2); |
OnFwd (POJEZD); // dojezd k care |
while (SENSOR_2 > THRESHOLD); |
Off(POJEZD); |
OnRev (POJEZD); |
SetPower (POJEZD,OUT_FULL); |
OnFor (POJEZD, 30); |
PlaySound (SOUND_LOW_BEEP); |
start utok; |
start bumper; |
} |
task utok() |
{ |
ClearSensor (SENSOR_3); |
while (SENSOR_2 > THRESHOLD); // jed, kdyz nas neco dotlaci k care |
stop bumper; |
SetPower (POJEZD+VYHAZ,OUT_FULL); |
OnRev (POJEZD); |
OnFwd(VYHAZ); |
while (0 == SENSOR_3); |
Off(VYHAZ); |
Off(POJEZD); |
start k_care; |
} |
task bumper() |
{ |
Float(VYHAZ); |
ClearSensor (SENSOR_3); |
while (0 == SENSOR_3); |
OnRev(VYHAZ+POJEZD); |
Wait(50); |
Off(VYHAZ+POJEZD); |
} |
/roboti/callis/sumo.nqc |
---|
0,0 → 1,60 |
#define THRESHOLD 44 |
#define POJEZD OUT_A |
#define VYHAZ OUT_C |
task main() |
{ |
Wait(500); // 5s |
SetSensor(SENSOR_2,SENSOR_LIGHT); // senzor na caru |
SetSensor(SENSOR_3, SENSOR_TOUCH); // poloha vyhazovadla |
SetSensorMode (SENSOR_3, SENSOR_MODE_PULSE); // koncak bude pocitat pulzy |
while (true) |
{ |
PlaySound (SOUND_CLICK); |
start k_care; |
Wait(1000); // 10s |
stop utok; |
stop k_care; |
stop bumper; |
} |
} |
task k_care() |
{ |
SetPower (POJEZD,OUT_HALF/2); |
OnFwd (POJEZD); // dojezd k care |
while (SENSOR_2 > THRESHOLD); |
Off(POJEZD); |
OnRev (POJEZD); |
SetPower (POJEZD,OUT_FULL); |
OnFor (POJEZD, 30); |
PlaySound (SOUND_LOW_BEEP); |
start utok; |
start bumper; |
} |
task utok() |
{ |
ClearSensor (SENSOR_3); |
while (SENSOR_2 > THRESHOLD); // jed, kdyz nas neco dotlaci k care |
stop bumper; |
SetPower (POJEZD+VYHAZ,OUT_FULL); |
OnRev (POJEZD); |
OnFwd(VYHAZ); |
while (0 == SENSOR_3); |
Off(VYHAZ); |
Off(POJEZD); |
start k_care; |
} |
task bumper() |
{ |
Float(VYHAZ); |
ClearSensor (SENSOR_3); |
while (0 == SENSOR_3); // jed, kdyz nekdo narazi do vyhazovace |
OnRev(VYHAZ+POJEZD); |
Wait(50); |
Off(VYHAZ+POJEZD); |
} |
/roboti/callis/sumo2.bak |
---|
0,0 → 1,98 |
#define THRESHOLD 44 |
#define POJEZD OUT_B |
#define VYHAZ OUT_C |
task main() |
{ |
PlaySound (SOUND_DOUBLE_BEEP); |
Wait(500); // 5s podle pravidel |
SetSensor(SENSOR_1,SENSOR_LIGHT); // senzor na caru modry |
SetSensor(SENSOR_2,SENSOR_LIGHT); // senzor na caru cerveny |
SetSensor(SENSOR_3, SENSOR_TOUCH); // poloha vyhazovadla |
SetSensorMode (SENSOR_3, SENSOR_MODE_PULSE); // koncak bude pocitat pulzy |
while (true) |
{ |
// kazdych 10s dojed k care a zpet do vyckavaci pozice |
PlaySound (SOUND_CLICK); |
start k_care; |
Wait(1000); // 10s |
stop k_care; |
stop radar; |
stop cara; |
} |
} |
// udrazeni soupere, pokud drcnul do radaru nebo nas natlacil na caru |
task utok() |
{ |
stop radar; |
stop cara; |
PlaySound (SOUND_FAST_UP); |
SetPower (POJEZD+VYHAZ,OUT_FULL); // plnou parou vpred |
OnFwd(POJEZD); |
OnRev(VYHAZ); |
ClearSensor (SENSOR_3); |
// tlac, dokud se radar 2x neotoci nebo je jeste videt cara |
while ( (2 > SENSOR_3) || (SENSOR_2 > THRESHOLD) ); |
Off(VYHAZ); |
Off(POJEZD); |
start k_care; // po odrazeni soupere se vrat do vyckavaci pozice |
stop utok; |
} |
task k_care() // najed do vyckavaci pozice |
{ |
SetPower (POJEZD,OUT_FULL); |
OnRev (POJEZD); // dojezd k care |
while (SENSOR_2 < THRESHOLD); |
OnFwd (POJEZD); |
SetPower (POJEZD,OUT_FULL); |
OnFor (POJEZD, 30); // popojed kus od cary |
PlaySound (SOUND_DOUBLE_BEEP); |
start radar; |
start cara; |
start cara2; |
stop k_care; |
} |
task cara() // hlidani natlaceni na caru |
{ |
while (SENSOR_2 < THRESHOLD); // utoc, kdyz nas neco dotlaci k care |
start utok; |
} |
task radar() // hlidani najeti do prostoru vyhazovace |
{ |
OnFwd(VYHAZ); // roztoceni radaru |
SetPower (VYHAZ,OUT_FULL); |
OnFor(VYHAZ,50); |
SetPower (VYHAZ,OUT_LOW); // snizeni vykonu po roztoceni |
while (true) |
{ |
ClearSensor (SENSOR_3); |
OnFwd(VYHAZ); // stouchni do radaru na 400ms |
Wait(40); |
Float(VYHAZ); // volnobeh |
ClearTimer (0); |
while (0 == SENSOR_3) // testuje se, zda se do 700ms radar otoci |
{ |
if (Timer (0) > 7) start utok; // utoc, pokud je zablokovan radar |
} |
} |
} |
task cara2() // hlidani cary ze strany "radaru" |
{ |
while (SENSOR_1 > THRESHOLD); // cekej na caru |
stop radar; // vsechno zastav |
stop cara; |
stop k_care; |
stop utok; |
Off(POJEZD); |
Off(VYHAZ); |
start k_care; // snaz se dojet k care na druhe strane |
stop cara2; |
} |
/roboti/callis/sumo2.nqc |
---|
0,0 → 1,98 |
#define THRESHOLD 44 |
#define POJEZD OUT_B |
#define VYHAZ OUT_C |
task main() |
{ |
PlaySound (SOUND_DOUBLE_BEEP); |
Wait(500); // 5s podle pravidel |
SetSensor(SENSOR_1,SENSOR_LIGHT); // senzor na caru modry |
SetSensor(SENSOR_2,SENSOR_LIGHT); // senzor na caru cerveny |
SetSensor(SENSOR_3, SENSOR_TOUCH); // poloha vyhazovadla |
SetSensorMode (SENSOR_3, SENSOR_MODE_PULSE); // koncak bude pocitat pulzy |
while (true) |
{ |
// kazdych 10s dojed k care a zpet do vyckavaci pozice |
PlaySound (SOUND_CLICK); |
start k_care; |
Wait(1000); // 10s |
stop k_care; |
stop radar; |
stop cara; |
} |
} |
// udrazeni soupere, pokud drcnul do radaru nebo nas natlacil na caru |
task utok() |
{ |
stop radar; |
stop cara; |
PlaySound (SOUND_FAST_UP); |
SetPower (POJEZD+VYHAZ,OUT_FULL); // plnou parou vpred |
OnFwd(POJEZD); |
OnRev(VYHAZ); |
ClearSensor (SENSOR_3); |
// tlac, dokud se radar 2x neotoci nebo je jeste videt cara |
while ( (2 > SENSOR_3) || (SENSOR_2 > THRESHOLD) ); |
Off(VYHAZ); |
Off(POJEZD); |
start k_care; // po odrazeni soupere se vrat do vyckavaci pozice |
stop utok; |
} |
task k_care() // najed do vyckavaci pozice |
{ |
SetPower (POJEZD,OUT_FULL); |
OnRev (POJEZD); // dojezd k care |
while (SENSOR_2 < THRESHOLD); |
OnFwd (POJEZD); |
SetPower (POJEZD,OUT_FULL); |
OnFor (POJEZD, 50); // popojed kus od cary |
PlaySound (SOUND_DOUBLE_BEEP); |
start radar; |
start cara; |
start cara2; |
stop k_care; |
} |
task cara() // hlidani natlaceni na caru |
{ |
while (SENSOR_2 < THRESHOLD); // utoc, kdyz nas neco dotlaci k care |
start utok; |
} |
task radar() // hlidani najeti do prostoru vyhazovace |
{ |
OnFwd(VYHAZ); // roztoceni radaru |
SetPower (VYHAZ,OUT_FULL); |
OnFor(VYHAZ,50); |
SetPower (VYHAZ,OUT_LOW); // snizeni vykonu po roztoceni |
while (true) |
{ |
ClearSensor (SENSOR_3); |
OnFwd(VYHAZ); // stouchni do radaru na 400ms |
Wait(40); |
Float(VYHAZ); // volnobeh |
ClearTimer (0); |
while (0 == SENSOR_3) // testuje se, zda se do 700ms radar otoci |
{ |
if (Timer (0) > 7) start utok; // utoc, pokud je zablokovan radar |
} |
} |
} |
task cara2() // hlidani cary ze strany "radaru" |
{ |
while (SENSOR_1 > THRESHOLD); // cekej na caru |
stop radar; // vsechno zastav |
stop cara; |
stop k_care; |
stop utok; |
Off(POJEZD); |
Off(VYHAZ); |
start k_care; // snaz se dojet k care na druhe strane |
stop cara2; |
} |
/roboti/callis/sumo_bumper.bak |
---|
0,0 → 1,152 |
#define THRESHOLD 44 // rozhodovaci uroven mezi cernou a bilou |
#define RED_WHITE 60 // maximum bile na cervenem senzoru |
#define MLEFT OUT_A |
#define MRIGHT OUT_C |
#define BLUE SENSOR_3 |
#define RED SENSOR_2 |
#define BBUMPER SENSOR_1 |
#define START_ALL start blue_bumper; start cara_cervena; start cara_modra; |
int semafor; |
task main() |
{ |
PlaySound (SOUND_DOUBLE_BEEP); |
Wait(500); // 5s podle pravidel |
SetSensor(BLUE,SENSOR_LIGHT); // senzor na caru modry |
SetSensor(RED,_SENSOR_CFG(SENSOR_TYPE_LIGHT, SENSOR_MODE_RAW)); // senzor na caru cerveny |
SetSensor(BBUMPER, SENSOR_TOUCH); // naraznik modry |
SetSensorMode (BBUMPER, SENSOR_MODE_BOOL); // koncak bude ... |
SetPower (MLEFT,OUT_FULL); |
SetPower (MRIGHT,OUT_FULL); |
SetDirection(MLEFT, OUT_FWD); |
SetDirection(MRIGHT, OUT_FWD); |
SetTxPower(TX_POWER_HI); // aby daleko videl |
OnFwd (MLEFT); // cuknuti na shozeni radlic |
OnFwd (MRIGHT); |
Wait(50); |
OnRev (MLEFT); |
OnRev (MRIGHT); |
Wait(50); // popojed kus |
Off(MLEFT); |
Off(MRIGHT); |
start blue_bumper; |
start cervena; |
start cara_modra; |
start stochastika; |
} |
task stochastika() |
{ |
while(true) Zatoc(); |
} |
void GoBlue() |
{ |
OnFwd (MLEFT); |
OnFwd (MRIGHT); |
Wait(300); // popojed kus |
Off(MLEFT); |
Off(MRIGHT); |
} |
void GoRed() |
{ |
OnRev (MLEFT); |
OnRev (MRIGHT); |
Wait(300); // popojed kus |
Off(MLEFT); |
Off(MRIGHT); |
} |
void Obrat() |
{ |
OnRev (MLEFT); |
OnFwd (MRIGHT); |
Wait(150); // popojed kus |
Off(MLEFT); |
Off(MRIGHT); |
} |
void Zatoc() |
{ |
switch (Random(1)) |
{ |
case 0: |
OnRev (MLEFT); |
OnFwd (MRIGHT); |
Wait(50); |
break; |
case 1: |
OnFwd (MLEFT); |
OnRev (MRIGHT); |
Wait(50); |
break; |
case 2: |
OnRev (MLEFT); |
OnRev (MRIGHT); |
Wait(70); |
break; |
case 3: |
OnFwd (MLEFT); |
OnFwd (MRIGHT); |
Wait(70); |
break; |
} |
} |
task blue_bumper() // naraznik na modre strane |
{ |
while(true) |
{ |
if (1 == BBUMPER) // utoc, kdyz neco narazi do narazniku |
{ |
stop stochastika; |
PlaySound (SOUND_FAST_UP); |
OnFwd (MLEFT); |
OnFwd (MRIGHT); |
Wait(50); |
} |
} |
} |
task cervena() // dalkovy sensor |
{ |
int lastlevel; |
lastlevel = 0; |
while(true) |
{ |
SendMessage(0); |
if(lastlevel > SENSOR_2) |
{ |
// Close to something |
PlaySound(SOUND_FAST_UP); |
stop stochastika; |
Obrat(); |
start stochastika; |
} |
lastlevel = SENSOR_2; |
lastlevel -= THRESHOLD; |
} |
} |
task cara_modra() // hlidani cary |
{ |
while(true) |
{ |
if (BLUE < THRESHOLD) // cekej na caru |
{ |
PlaySound (SOUND_DOUBLE_BEEP); |
stop blue_bumper; |
stop stochastika; |
GoRed(); |
start blue_bumper; |
start stochastika; |
} |
} |
} |
/roboti/callis/sumo_bumper.nqc |
---|
0,0 → 1,153 |
#define THRESHOLD 44 // rozhodovaci uroven mezi cernou a bilou |
#define RED_WHITE 60 // maximum bile na cervenem senzoru |
#define MLEFT OUT_A |
#define MRIGHT OUT_C |
#define BLUE SENSOR_3 |
#define RED SENSOR_2 |
#define BBUMPER SENSOR_1 |
#define START_ALL start blue_bumper; start cara_cervena; start cara_modra; |
int semafor; |
task main() |
{ |
PlaySound (SOUND_DOUBLE_BEEP); |
Wait(500); // 5s podle pravidel |
SetSensor(BLUE,SENSOR_LIGHT); // senzor na caru modry |
SetSensor(RED,_SENSOR_CFG(SENSOR_TYPE_LIGHT, SENSOR_MODE_RAW)); // senzor na caru cerveny |
SetSensor(BBUMPER, SENSOR_TOUCH); // naraznik modry |
SetSensorMode (BBUMPER, SENSOR_MODE_BOOL); // koncak bude ... |
SetPower (MLEFT,OUT_FULL); |
SetPower (MRIGHT,OUT_FULL); |
SetDirection(MLEFT, OUT_FWD); |
SetDirection(MRIGHT, OUT_FWD); |
SetTxPower(TX_POWER_HI); // aby daleko videl |
OnFwd (MLEFT); // cuknuti na shozeni radlic |
OnFwd (MRIGHT); |
Wait(50); |
OnRev (MLEFT); |
OnRev (MRIGHT); |
Wait(50); // popojed kus |
Off(MLEFT); |
Off(MRIGHT); |
start blue_bumper; |
start cervena; |
start cara_modra; |
start stochastika; |
} |
task stochastika() |
{ |
while(true) Zatoc(); |
} |
void GoBlue() |
{ |
OnFwd (MLEFT); |
OnFwd (MRIGHT); |
Wait(300); // popojed kus |
Off(MLEFT); |
Off(MRIGHT); |
} |
void GoRed() |
{ |
OnRev (MLEFT); |
OnRev (MRIGHT); |
Wait(300); // popojed kus |
Off(MLEFT); |
Off(MRIGHT); |
} |
void Obrat() |
{ |
OnRev (MLEFT); |
OnFwd (MRIGHT); |
Wait(150); // popojed kus |
Off(MLEFT); |
Off(MRIGHT); |
} |
void Zatoc() |
{ |
switch (Random(1)) |
{ |
case 0: |
OnRev (MLEFT); |
OnFwd (MRIGHT); |
Wait(50); |
break; |
case 1: |
OnFwd (MLEFT); |
OnRev (MRIGHT); |
Wait(50); |
break; |
case 2: |
OnRev (MLEFT); |
OnRev (MRIGHT); |
Wait(70); |
break; |
case 3: |
OnFwd (MLEFT); |
OnFwd (MRIGHT); |
Wait(70); |
break; |
} |
} |
task blue_bumper() // naraznik na modre strane |
{ |
while(true) |
{ |
if (1 == BBUMPER) // utoc, kdyz neco narazi do narazniku |
{ |
stop stochastika; |
PlaySound (SOUND_FAST_UP); |
OnFwd (MLEFT); |
OnFwd (MRIGHT); |
Wait(50); |
} |
} |
} |
task cervena() // dalkovy sensor |
{ |
int lastlevel; |
lastlevel = 0; |
while(true) |
{ |
SendMessage(0); |
if(lastlevel > SENSOR_2) |
{ |
// Close to something |
PlaySound(SOUND_FAST_UP); |
stop stochastika; |
Obrat(); |
Wait(50); |
start stochastika; |
} |
lastlevel = SENSOR_2; |
lastlevel -= THRESHOLD; |
} |
} |
task cara_modra() // hlidani cary |
{ |
while(true) |
{ |
if (BLUE < THRESHOLD) // cekej na caru |
{ |
PlaySound (SOUND_DOUBLE_BEEP); |
stop blue_bumper; |
stop stochastika; |
GoRed(); |
start blue_bumper; |
start stochastika; |
} |
} |
} |
/roboti/callis/sumo_kaklik.nqc |
---|
0,0 → 1,158 |
#define THRESHOLD 44 // rozhodovaci uroven mezi cernou a bilou |
#define RED_WHITE 60 // maximum bile na cervenem senzoru |
#define MLEFT OUT_A |
#define MRIGHT OUT_C |
#define BLUE SENSOR_3 |
#define RED SENSOR_2 |
#define BBUMPER SENSOR_1 |
#define START_ALL start blue_bumper; start cara_cervena; start cara_modra; |
int semafor; |
task main() |
{ |
PlaySound (SOUND_DOUBLE_BEEP); |
Wait(500); // 5s podle pravidel |
SetSensor(BLUE,SENSOR_LIGHT); // senzor na caru modry |
SetSensor(RED,_SENSOR_CFG(SENSOR_TYPE_LIGHT, SENSOR_MODE_RAW)); // senzor na caru cerveny |
SetSensor(BBUMPER, SENSOR_TOUCH); // naraznik modry |
SetSensorMode (BBUMPER, SENSOR_MODE_BOOL); // koncak bude ... |
SetPower (MLEFT,OUT_FULL); |
SetPower (MRIGHT,OUT_FULL); |
SetDirection(MLEFT, OUT_FWD); |
SetDirection(MRIGHT, OUT_FWD); |
SetTxPower(TX_POWER_HI); // aby daleko videl |
OnFwd (MLEFT); // cuknuti na shozeni radlic |
OnFwd (MRIGHT); |
Wait(20); |
OnRev (MLEFT); |
OnRev (MRIGHT); |
Wait(70); // popojed kus |
Off(MLEFT); |
Off(MRIGHT); |
start blue_bumper; |
start cervena; |
start cara_modra; |
start stochastika; |
} |
task stochastika() |
{ |
while(true) Zatoc(); |
} |
void GoBlue() |
{ |
OnFwd (MLEFT); |
OnFwd (MRIGHT); |
Wait(300); // popojed kus |
Off(MLEFT); |
Off(MRIGHT); |
} |
void GoRed() |
{ |
OnRev (MLEFT); |
OnRev (MRIGHT); |
Wait(300); // popojed kus |
Off(MLEFT); |
Off(MRIGHT); |
} |
void Obrat() |
{ |
OnRev (MLEFT); |
OnFwd (MRIGHT); |
Wait(125); // popojed kus |
Off(MLEFT); |
Off(MRIGHT); |
} |
void Zatoc() |
{ |
switch (Random(1)) |
{ |
case 0: |
OnRev (MLEFT); |
OnFwd (MRIGHT); |
Wait(50); |
break; |
case 1: |
OnFwd (MLEFT); |
OnRev (MRIGHT); |
Wait(50); |
break; |
case 2: |
OnRev (MLEFT); |
OnRev (MRIGHT); |
Wait(70); |
break; |
case 3: |
OnFwd (MLEFT); |
OnFwd (MRIGHT); |
Wait(70); |
break; |
} |
} |
task blue_bumper() // naraznik na modre strane |
{ |
while(true) |
{ |
if (1 == BBUMPER) // utoc, kdyz neco narazi do narazniku |
{ |
stop stochastika; |
PlaySound (SOUND_FAST_UP); |
OnFwd (MLEFT); |
OnFwd (MRIGHT); |
Wait(50); |
} |
} |
} |
task cervena() // dalkovy sensor |
{ |
int lastlevel; |
lastlevel = 0; |
while(true) |
{ |
SendMessage(0); |
if(lastlevel > SENSOR_2) |
{ |
// Close to something |
PlaySound(SOUND_FAST_UP); |
stop stochastika; |
OnRev (MLEFT); |
OnRev (MRIGHT); |
Wait(10); // popojed kus |
Off(MLEFT); |
Off(MRIGHT); |
Obrat(); |
Wait(50); |
start stochastika; |
} |
lastlevel = SENSOR_2; |
lastlevel -= THRESHOLD; |
} |
} |
task cara_modra() // hlidani cary |
{ |
while(true) |
{ |
if (BLUE < THRESHOLD) // cekej na caru |
{ |
PlaySound (SOUND_DOUBLE_BEEP); |
stop blue_bumper; |
stop stochastika; |
GoRed(); |
start blue_bumper; |
start stochastika; |
} |
} |
} |
/roboti/callis/sumo_kaklik2.bak |
---|
0,0 → 1,158 |
#define THRESHOLD 44 // rozhodovaci uroven mezi cernou a bilou |
#define RED_WHITE 60 // maximum bile na cervenem senzoru |
#define MLEFT OUT_A |
#define MRIGHT OUT_C |
#define BLUE SENSOR_3 |
#define RED SENSOR_2 |
#define BBUMPER SENSOR_1 |
#define START_ALL start blue_bumper; start cara_cervena; start cara_modra; |
int semafor; |
task main() |
{ |
PlaySound (SOUND_DOUBLE_BEEP); |
Wait(500); // 5s podle pravidel |
SetSensor(BLUE,SENSOR_LIGHT); // senzor na caru modry |
SetSensor(RED,_SENSOR_CFG(SENSOR_TYPE_LIGHT, SENSOR_MODE_RAW)); // senzor na caru cerveny |
SetSensor(BBUMPER, SENSOR_TOUCH); // naraznik modry |
SetSensorMode (BBUMPER, SENSOR_MODE_BOOL); // koncak bude ... |
SetPower (MLEFT,OUT_FULL); |
SetPower (MRIGHT,OUT_FULL); |
SetDirection(MLEFT, OUT_FWD); |
SetDirection(MRIGHT, OUT_FWD); |
SetTxPower(TX_POWER_HI); // aby daleko videl |
OnFwd (MLEFT); // cuknuti na shozeni radlic |
OnFwd (MRIGHT); |
Wait(20); |
OnRev (MLEFT); |
OnRev (MRIGHT); |
Wait(70); |
Off(MLEFT); |
Off(MRIGHT); |
start blue_bumper; |
start cervena; |
start cara_modra; |
start stochastika; |
} |
task stochastika() // nahodne otaceni |
{ |
while(true) Zatoc(); |
} |
void GoBlue() |
{ |
OnFwd (MLEFT); |
OnFwd (MRIGHT); |
Wait(300); // popojed kus |
Off(MLEFT); |
Off(MRIGHT); |
} |
void GoRed() |
{ |
OnRev (MLEFT); |
OnRev (MRIGHT); |
Wait(300); // popojed kus |
Off(MLEFT); |
Off(MRIGHT); |
} |
void Obrat() |
{ |
OnRev (MLEFT); |
OnFwd (MRIGHT); |
Wait(125); // popojed kus |
Off(MLEFT); |
Off(MRIGHT); |
} |
void Zatoc() |
{ |
switch (Random(1)) |
{ |
case 0: |
OnRev (MLEFT); |
OnFwd (MRIGHT); |
Wait(50); |
break; |
case 1: |
OnFwd (MLEFT); |
OnRev (MRIGHT); |
Wait(50); |
break; |
case 2: |
OnRev (MLEFT); |
OnRev (MRIGHT); |
Wait(70); |
break; |
case 3: |
OnFwd (MLEFT); |
OnFwd (MRIGHT); |
Wait(70); |
break; |
} |
} |
task blue_bumper() // naraznik na modre strane |
{ |
while(true) |
{ |
if (1 == BBUMPER) // utoc, kdyz neco narazi do narazniku |
{ |
stop stochastika; |
PlaySound (SOUND_FAST_UP); |
OnFwd (MLEFT); |
OnFwd (MRIGHT); |
Wait(50); |
} |
} |
} |
task cervena() // dalkovy sensor |
{ |
int lastlevel; |
lastlevel = 0; |
while(true) |
{ |
SendMessage(0); |
if(lastlevel > SENSOR_2) |
{ |
PlaySound(SOUND_FAST_UP); |
stop stochastika; |
OnRev (MLEFT); |
OnRev (MRIGHT); |
Wait(10); // popojed kus |
Off(MLEFT); |
Off(MRIGHT); |
Obrat(); |
GoBlue(); |
start stochastika; |
} |
lastlevel = SENSOR_2; |
lastlevel -= THRESHOLD; |
} |
} |
task cara_modra() // hlidani cary |
{ |
while(true) |
{ |
if (BLUE < THRESHOLD) // cekej na caru |
{ |
PlaySound (SOUND_DOUBLE_BEEP); |
stop blue_bumper; |
stop stochastika; |
stop cervena; |
GoRed(); |
start cervena; |
start blue_bumper; |
start stochastika; |
} |
} |
} |
/roboti/callis/sumo_kaklik2.nqc |
---|
0,0 → 1,161 |
#define THRESHOLD 44 // rozhodovaci uroven mezi cernou a bilou |
#define RED_WHITE 60 // maximum bile na cervenem senzoru |
#define MLEFT OUT_A |
#define MRIGHT OUT_C |
#define BLUE SENSOR_3 |
#define RED SENSOR_2 |
#define BBUMPER SENSOR_1 |
#define START_ALL start blue_bumper; start cara_cervena; start cara_modra; |
int semafor; |
task main() |
{ |
PlaySound (SOUND_DOUBLE_BEEP); |
Wait(500); // 5s podle pravidel |
SetSensor(BLUE,SENSOR_LIGHT); // senzor na caru modry |
SetSensor(RED,_SENSOR_CFG(SENSOR_TYPE_LIGHT, SENSOR_MODE_RAW)); // senzor na caru cerveny |
SetSensor(BBUMPER, SENSOR_TOUCH); // naraznik modry |
SetSensorMode (BBUMPER, SENSOR_MODE_BOOL); // koncak bude ... |
SetPower (MLEFT,OUT_FULL); |
SetPower (MRIGHT,OUT_FULL); |
SetDirection(MLEFT, OUT_FWD); |
SetDirection(MRIGHT, OUT_FWD); |
SetTxPower(TX_POWER_HI); // aby daleko videl |
OnFwd (MLEFT); // cuknuti na shozeni radlic |
OnFwd (MRIGHT); |
Wait(20); |
OnRev (MLEFT); |
OnRev (MRIGHT); |
Wait(70); |
Off(MLEFT); |
Off(MRIGHT); |
Wait(20); // pockej na ustaleni narazniku |
// rozjed tasky |
start blue_bumper; |
start cervena; |
start cara_modra; |
start stochastika; |
} |
task stochastika() // nahodne otaceni |
{ |
while(true) Zatoc(); |
} |
void GoBlue() // pojezd ve smeru modreho senzoru |
{ |
OnFwd (MLEFT); |
OnFwd (MRIGHT); |
Wait(300); // popojed kus |
Off(MLEFT); |
Off(MRIGHT); |
} |
void GoRed() // pojezd ve smeru cerveneho senzoru |
{ |
OnRev (MLEFT); |
OnRev (MRIGHT); |
Wait(300); // popojed kus |
Off(MLEFT); |
Off(MRIGHT); |
} |
void Obrat() // obrat o 180 stupnu |
{ |
OnRev (MLEFT); |
OnFwd (MRIGHT); |
Wait(125); // popojed kus |
Off(MLEFT); |
Off(MRIGHT); |
} |
void Zatoc() // nahodne zatoceni, nebo popojeti |
{ |
switch (Random(1)) |
{ |
case 0: |
OnRev (MLEFT); |
OnFwd (MRIGHT); |
Wait(50); |
break; |
case 1: |
OnFwd (MLEFT); |
OnRev (MRIGHT); |
Wait(50); |
break; |
case 2: |
OnRev (MLEFT); |
OnRev (MRIGHT); |
Wait(70); |
break; |
case 3: |
OnFwd (MLEFT); |
OnFwd (MRIGHT); |
Wait(70); |
break; |
} |
} |
task blue_bumper() // naraznik na modre strane |
{ |
while(true) |
{ |
if (1 == BBUMPER) // utoc, kdyz neco narazi do narazniku |
{ |
stop stochastika; |
PlaySound (SOUND_FAST_UP); |
OnFwd (MLEFT); |
OnFwd (MRIGHT); |
Wait(50); |
} |
} |
} |
task cervena() // dalkovy sensor |
{ |
int lastlevel; |
lastlevel = 0; |
while(true) |
{ |
SendMessage(0); |
if(lastlevel > SENSOR_2) |
{ |
PlaySound(SOUND_FAST_UP); |
stop stochastika; |
OnRev (MLEFT); |
OnRev (MRIGHT); |
Wait(10); // popojed kus |
Off(MLEFT); |
Off(MRIGHT); |
Obrat(); |
GoBlue(); |
start stochastika; |
} |
lastlevel = SENSOR_2; |
lastlevel -= THRESHOLD; |
} |
} |
task cara_modra() // hlidani cary |
{ |
while(true) |
{ |
if (BLUE < THRESHOLD) // cekej na caru |
{ |
PlaySound (SOUND_DOUBLE_BEEP); |
stop blue_bumper; |
stop stochastika; |
stop cervena; |
GoRed(); |
start cervena; |
start blue_bumper; |
start stochastika; |
} |
} |
} |
/roboti/callis/sumo_zataceci.bak |
---|
0,0 → 1,160 |
#define THRESHOLD 44 // rozhodovaci uroven mezi cernou a bilou |
#define RED_WHITE 60 // maximum bile na cervenem senzoru |
#define MLEFT OUT_A |
#define MRIGHT OUT_C |
#define BLUE SENSOR_1 |
#define RED SENSOR_2 |
#define BBUMPER SENSOR_3 |
#define START_ALL start blue_bumper; start cara_cervena; start cara_modra; |
int semafor; |
task main() |
{ |
PlaySound (SOUND_DOUBLE_BEEP); |
Wait(500); // 5s podle pravidel |
SetSensor(BLUE,SENSOR_LIGHT); // senzor na caru modry |
SetSensor(RED,SENSOR_LIGHT); // senzor na caru cerveny |
SetSensor(BBUMPER, SENSOR_TOUCH); // naraznik modry |
SetSensorMode (BBUMPER, SENSOR_MODE_BOOL); // koncak bude ... |
SetPower (MLEFT,OUT_FULL); |
SetPower (MRIGHT,OUT_FULL); |
SetDirection(MLEFT, OUT_FWD); |
SetDirection(MRIGHT, OUT_FWD); |
k_care(); |
start red_bumper; |
start blue_bumper; |
start cara_cervena; |
start cara_modra; |
semafor = false; |
ClearTimer (0); |
start stochastika; |
} |
task stochastika() |
{ |
while (true) |
{ |
Wait(500); |
if (semafor) start blue_bumper; |
PlaySound (SOUND_CLICK); |
OnFwd (MLEFT); // dojezd k care |
OnFwd (MRIGHT); // dojezd k care |
while (BLUE > THRESHOLD); |
GoRed(); |
OnRev (MLEFT); |
OnRev (MRIGHT); |
Wait(100); // popojed kus |
Zatoc(); |
ClearTimer (0); |
} |
} |
void GoBlue() |
{ |
OnFwd (MLEFT); |
OnFwd (MRIGHT); |
Wait(100); // popojed kus |
Off(MLEFT); |
Off(MRIGHT); |
} |
void GoRed() |
{ |
OnRev (MLEFT); |
OnRev (MRIGHT); |
Wait(100); // popojed kus |
Off(MLEFT); |
Off(MRIGHT); |
} |
void Zatoc() |
{ |
switch (Random(2)) |
{ |
case 0: |
OnRev (MLEFT); |
OnFwd (MRIGHT); |
break; |
case 1: |
OnFwd (MLEFT); |
OnRev (MRIGHT); |
break; |
case 2: |
OnRev (MLEFT); |
OnRev (MRIGHT); |
} |
Wait(100); // popojed kus |
Off(MLEFT); |
Off(MRIGHT); |
} |
void k_care() // najed do vyckavaci pozice |
{ |
OnFwd (MLEFT); // dojezd k care |
OnFwd (MRIGHT); // dojezd k care |
while (BLUE > THRESHOLD); |
GoRed(); |
OnRev (MLEFT); |
OnRev (MRIGHT); |
Wait(100); // popojed kus |
Off(MLEFT); |
Off(MRIGHT); |
} |
task red_bumper() |
{ |
while(true) |
{ |
while (100 != RED); // utoc, kdyz neco narazi do narazniku |
PlaySound (SOUND_FAST_UP); |
stop stochastika; |
Zatoc(); |
start stochastika; |
if (semafor) start blue_bumper; |
} |
} |
task blue_bumper() |
{ |
semafor = false; |
while (0 == BBUMPER); // utoc, kdyz neco narazi do narazniku |
PlaySound (SOUND_FAST_UP); |
OnFwd (MLEFT); |
OnFwd (MRIGHT); |
semafor = true; |
} |
task cara_cervena() // hlidani natlaceni na caru |
{ |
while(true) |
{ |
while (RED < THRESHOLD || RED > RED_WHITE); // utoc, kdyz nas neco dotlaci k care |
Wait(2); // kontrola za 20ms, aby se to nespletlo s naraznikem |
if (RED > THRESHOLD && RED < RED_WHITE) |
{ |
PlaySound (SOUND_DOUBLE_BEEP); |
GoBlue(); |
} |
} |
} |
task cara_modra() // hlidani cary |
{ |
while(true) |
{ |
while (BLUE > THRESHOLD); // cekej na caru |
stop cara_cervena; |
PlaySound (SOUND_DOUBLE_BEEP); |
GoRed(); |
if (semafor) start blue_bumper; |
start cara_cervena; |
} |
} |
/roboti/callis/sumo_zataceci.nqc |
---|
0,0 → 1,165 |
#define THRESHOLD 44 // rozhodovaci uroven mezi cernou a bilou |
#define RED_WHITE 60 // maximum bile na cervenem senzoru |
#define MLEFT OUT_A |
#define MRIGHT OUT_C |
#define BLUE SENSOR_1 |
#define RED SENSOR_2 |
#define BBUMPER SENSOR_3 |
#define START_ALL start blue_bumper; start cara_cervena; start cara_modra; |
int semafor; |
task main() |
{ |
PlaySound (SOUND_DOUBLE_BEEP); |
Wait(500); // 5s podle pravidel |
SetSensor(BLUE,SENSOR_LIGHT); // senzor na caru modry |
SetSensor(RED,SENSOR_LIGHT); // senzor na caru cerveny |
SetSensor(BBUMPER, SENSOR_TOUCH); // naraznik modry |
SetSensorMode (BBUMPER, SENSOR_MODE_BOOL); // koncak bude ... |
SetPower (MLEFT,OUT_FULL); |
SetPower (MRIGHT,OUT_FULL); |
SetDirection(MLEFT, OUT_FWD); |
SetDirection(MRIGHT, OUT_FWD); |
// k_care(); |
OnFwd (MLEFT); // dojezd k care |
OnFwd (MRIGHT); // dojezd k care |
Wait(50); |
GoRed(); |
start red_bumper; |
start blue_bumper; |
start cara_cervena; |
start cara_modra; |
semafor = false; |
ClearTimer (0); |
start stochastika; |
} |
task stochastika() |
{ |
while (true) |
{ |
Wait(500); |
if (semafor) start blue_bumper; |
PlaySound (SOUND_CLICK); |
OnFwd (MLEFT); // dojezd k care |
OnFwd (MRIGHT); // dojezd k care |
while (BLUE > THRESHOLD); |
GoRed(); |
OnRev (MLEFT); |
OnRev (MRIGHT); |
Wait(100); // popojed kus |
Zatoc(); |
ClearTimer (0); |
} |
} |
void GoBlue() |
{ |
OnFwd (MLEFT); |
OnFwd (MRIGHT); |
Wait(100); // popojed kus |
Off(MLEFT); |
Off(MRIGHT); |
} |
void GoRed() |
{ |
OnRev (MLEFT); |
OnRev (MRIGHT); |
Wait(100); // popojed kus |
Off(MLEFT); |
Off(MRIGHT); |
} |
void Zatoc() |
{ |
switch (Random(2)) |
{ |
case 0: |
OnRev (MLEFT); |
OnFwd (MRIGHT); |
break; |
case 1: |
OnFwd (MLEFT); |
OnRev (MRIGHT); |
break; |
case 2: |
OnRev (MLEFT); |
OnRev (MRIGHT); |
} |
Wait(100); // popojed kus |
Off(MLEFT); |
Off(MRIGHT); |
} |
void k_care() // najed do vyckavaci pozice |
{ |
OnFwd (MLEFT); // dojezd k care |
OnFwd (MRIGHT); // dojezd k care |
while (BLUE > THRESHOLD); |
GoRed(); |
OnRev (MLEFT); |
OnRev (MRIGHT); |
Wait(100); // popojed kus |
Off(MLEFT); |
Off(MRIGHT); |
} |
task red_bumper() |
{ |
while(true) |
{ |
while (100 != RED); // utoc, kdyz neco narazi do narazniku |
PlaySound (SOUND_FAST_UP); |
stop stochastika; |
GoRed(); |
//!!! Zatoc(); |
start stochastika; |
if (semafor) start blue_bumper; |
} |
} |
task blue_bumper() |
{ |
semafor = false; |
while (0 == BBUMPER); // utoc, kdyz neco narazi do narazniku |
PlaySound (SOUND_FAST_UP); |
OnFwd (MLEFT); |
OnFwd (MRIGHT); |
semafor = true; |
} |
task cara_cervena() // hlidani natlaceni na caru |
{ |
while(true) |
{ |
while (RED < THRESHOLD || RED > RED_WHITE); // utoc, kdyz nas neco dotlaci k care |
Wait(2); // kontrola za 20ms, aby se to nespletlo s naraznikem |
if (RED > THRESHOLD && RED < RED_WHITE) |
{ |
PlaySound (SOUND_DOUBLE_BEEP); |
GoBlue(); |
} |
} |
} |
task cara_modra() // hlidani cary |
{ |
while(true) |
{ |
while (BLUE > THRESHOLD); // cekej na caru |
stop cara_cervena; |
PlaySound (SOUND_DOUBLE_BEEP); |
GoRed(); |
if (semafor) start blue_bumper; |
start cara_cervena; |
} |
} |
/roboti/callis/sumo_zataceci2.bak |
---|
0,0 → 1,164 |
#define THRESHOLD 44 // rozhodovaci uroven mezi cernou a bilou |
#define RED_WHITE 60 // maximum bile na cervenem senzoru |
#define MLEFT OUT_A |
#define MRIGHT OUT_C |
#define BLUE SENSOR_1 |
#define RED SENSOR_2 |
#define BBUMPER SENSOR_3 |
#define START_ALL start blue_bumper; start cara_cervena; start cara_modra; |
int semafor; |
task main() |
{ |
PlaySound (SOUND_DOUBLE_BEEP); |
Wait(500); // 5s podle pravidel |
SetSensor(BLUE,SENSOR_LIGHT); // senzor na caru modry |
SetSensor(RED,SENSOR_LIGHT); // senzor na caru cerveny |
SetSensor(BBUMPER, SENSOR_TOUCH); // naraznik modry |
SetSensorMode (BBUMPER, SENSOR_MODE_BOOL); // koncak bude ... |
SetPower (MLEFT,OUT_FULL); |
SetPower (MRIGHT,OUT_FULL); |
SetDirection(MLEFT, OUT_FWD); |
SetDirection(MRIGHT, OUT_FWD); |
OnFwd (MLEFT); // cuknuti na shozeni radlic |
OnFwd (MRIGHT); |
Wait(50); |
GoRed(); |
start red_bumper; |
start blue_bumper; |
start cara_cervena; |
start cara_modra; |
start stochastika; |
} |
task stochastika() |
{ |
while(true) Zatoc(); |
} |
void GoBlue() |
{ |
OnFwd (MLEFT); |
OnFwd (MRIGHT); |
Wait(300); // popojed kus |
Off(MLEFT); |
Off(MRIGHT); |
} |
void GoRed() |
{ |
OnRev (MLEFT); |
OnRev (MRIGHT); |
Wait(300); // popojed kus |
Off(MLEFT); |
Off(MRIGHT); |
} |
void Zatoc() |
{ |
switch (Random(3)) |
{ |
case 0: |
OnRev (MLEFT); |
OnFwd (MRIGHT); |
Wait(200); |
break; |
case 1: |
OnFwd (MLEFT); |
OnRev (MRIGHT); |
Wait(200); |
break; |
case 2: |
OnRev (MLEFT); |
OnRev (MRIGHT); |
Wait(20); |
break; |
case 3: |
OnFwd (MLEFT); |
OnFwd (MRIGHT); |
Wait(20); |
break; |
} |
} |
void k_care() // najed do vyckavaci pozice |
{ |
OnFwd (MLEFT); // dojezd k care |
OnFwd (MRIGHT); // dojezd k care |
while (BLUE > THRESHOLD); |
GoRed(); |
OnRev (MLEFT); |
OnRev (MRIGHT); |
Wait(100); // popojed kus |
Off(MLEFT); |
Off(MRIGHT); |
} |
task red_bumper() |
{ |
while(true) |
{ |
if (100 == RED) // utoc, kdyz neco narazi do narazniku |
{ |
PlaySound (SOUND_FAST_UP); |
stop stochastika; |
OnRev (MLEFT); |
OnRev (MRIGHT); |
Wait(50); |
} |
} |
} |
task blue_bumper() |
{ |
while(true) |
{ |
if (1 == BBUMPER) // utoc, kdyz neco narazi do narazniku |
{ |
PlaySound (SOUND_FAST_UP); |
stop stochastika; |
OnFwd (MLEFT); |
OnFwd (MRIGHT); |
Wait(50); |
} |
} |
} |
task cara_cervena() // hlidani natlaceni na caru |
{ |
while(true) |
{ |
if ((RED > THRESHOLD) && (RED < RED_WHITE)) |
{ |
Wait(2); |
if ((RED > THRESHOLD) && (RED < RED_WHITE)) |
{ |
PlaySound (SOUND_DOUBLE_BEEP); |
stop red_bumper; |
GoBlue(); |
start red_bumper; |
start stochastika; |
} |
} |
} |
} |
task cara_modra() // hlidani cary |
{ |
while(true) |
{ |
if (BLUE < THRESHOLD) // cekej na caru |
{ |
PlaySound (SOUND_DOUBLE_BEEP); |
stop blue_bumper; |
GoRed(); |
start blue_bumper; |
start stochastika; |
} |
} |
} |
/roboti/callis/sumo_zataceci2.nqc |
---|
0,0 → 1,151 |
#define THRESHOLD 44 // rozhodovaci uroven mezi cernou a bilou |
#define RED_WHITE 60 // maximum bile na cervenem senzoru |
#define MLEFT OUT_A |
#define MRIGHT OUT_C |
#define BLUE SENSOR_1 |
#define RED SENSOR_2 |
#define BBUMPER SENSOR_3 |
#define START_ALL start blue_bumper; start cara_cervena; start cara_modra; |
int semafor; |
task main() |
{ |
PlaySound (SOUND_DOUBLE_BEEP); |
Wait(500); // 5s podle pravidel |
SetSensor(BLUE,SENSOR_LIGHT); // senzor na caru modry |
SetSensor(RED,SENSOR_LIGHT); // senzor na caru cerveny |
SetSensor(BBUMPER, SENSOR_TOUCH); // naraznik modry |
SetSensorMode (BBUMPER, SENSOR_MODE_BOOL); // koncak bude ... |
SetPower (MLEFT,OUT_FULL); |
SetPower (MRIGHT,OUT_FULL); |
SetDirection(MLEFT, OUT_FWD); |
SetDirection(MRIGHT, OUT_FWD); |
OnFwd (MLEFT); // cuknuti na shozeni radlic |
OnFwd (MRIGHT); |
Wait(50); |
GoRed(); |
start red_bumper; |
start blue_bumper; |
start cara_cervena; |
start cara_modra; |
start stochastika; |
} |
task stochastika() |
{ |
while(true) Zatoc(); |
} |
void GoBlue() |
{ |
OnFwd (MLEFT); |
OnFwd (MRIGHT); |
Wait(300); // popojed kus |
Off(MLEFT); |
Off(MRIGHT); |
} |
void GoRed() |
{ |
OnRev (MLEFT); |
OnRev (MRIGHT); |
Wait(300); // popojed kus |
Off(MLEFT); |
Off(MRIGHT); |
} |
void Zatoc() |
{ |
switch (Random(3)) |
{ |
case 0: |
OnRev (MLEFT); |
OnFwd (MRIGHT); |
Wait(200); |
break; |
case 1: |
OnFwd (MLEFT); |
OnRev (MRIGHT); |
Wait(200); |
break; |
case 2: |
OnRev (MLEFT); |
OnRev (MRIGHT); |
Wait(20); |
break; |
case 3: |
OnFwd (MLEFT); |
OnFwd (MRIGHT); |
Wait(20); |
break; |
} |
} |
task red_bumper() |
{ |
while(true) |
{ |
if (100 == RED) // utoc, kdyz neco narazi do narazniku |
{ |
PlaySound (SOUND_FAST_UP); |
stop stochastika; |
OnRev (MLEFT); |
OnRev (MRIGHT); |
Wait(50); |
} |
} |
} |
task blue_bumper() |
{ |
while(true) |
{ |
if (1 == BBUMPER) // utoc, kdyz neco narazi do narazniku |
{ |
PlaySound (SOUND_FAST_UP); |
stop stochastika; |
OnFwd (MLEFT); |
OnFwd (MRIGHT); |
Wait(50); |
} |
} |
} |
task cara_cervena() // hlidani natlaceni na caru |
{ |
while(true) |
{ |
if ((RED > THRESHOLD) && (RED < RED_WHITE)) |
{ |
Wait(2); |
if ((RED > THRESHOLD) && (RED < RED_WHITE)) |
{ |
PlaySound (SOUND_DOUBLE_BEEP); |
stop red_bumper; |
GoBlue(); |
start red_bumper; |
start stochastika; |
} |
} |
} |
} |
task cara_modra() // hlidani cary |
{ |
while(true) |
{ |
if (BLUE < THRESHOLD) // cekej na caru |
{ |
PlaySound (SOUND_DOUBLE_BEEP); |
stop blue_bumper; |
GoRed(); |
start blue_bumper; |
start stochastika; |
} |
} |
} |
/roboti/callis/sumo_zataceci3.bak |
---|
0,0 → 1,155 |
#define THRESHOLD 44 // rozhodovaci uroven mezi cernou a bilou |
#define RED_WHITE 60 // maximum bile na cervenem senzoru |
#define MLEFT OUT_A |
#define MRIGHT OUT_C |
#define BLUE SENSOR_1 |
#define RED SENSOR_2 |
#define BBUMPER SENSOR_3 |
#define START_ALL start blue_bumper; start cara_cervena; start cara_modra; |
int semafor; |
task main() |
{ |
PlaySound (SOUND_DOUBLE_BEEP); |
Wait(500); // 5s podle pravidel |
SetSensor(BLUE,SENSOR_LIGHT); // senzor na caru modry |
SetSensor(RED,SENSOR_LIGHT); // senzor na caru cerveny |
SetSensor(BBUMPER, SENSOR_TOUCH); // naraznik modry |
SetSensorMode (BBUMPER, SENSOR_MODE_BOOL); // koncak bude ... |
SetPower (MLEFT,OUT_FULL); |
SetPower (MRIGHT,OUT_FULL); |
SetDirection(MLEFT, OUT_FWD); |
SetDirection(MRIGHT, OUT_FWD); |
OnFwd (MLEFT); // cuknuti na shozeni radlic |
OnFwd (MRIGHT); |
Wait(50); |
OnRev (MLEFT); |
OnRev (MRIGHT); |
Wait(100); // popojed kus |
Off(MLEFT); |
Off(MRIGHT); |
start red_bumper; |
start blue_bumper; |
start cara_cervena; |
start cara_modra; |
start stochastika; |
} |
task stochastika() |
{ |
while(true) Zatoc(); |
} |
void GoBlue() |
{ |
OnFwd (MLEFT); |
OnFwd (MRIGHT); |
Wait(300); // popojed kus |
Off(MLEFT); |
Off(MRIGHT); |
} |
void GoRed() |
{ |
OnRev (MLEFT); |
OnRev (MRIGHT); |
Wait(300); // popojed kus |
Off(MLEFT); |
Off(MRIGHT); |
} |
void Zatoc() |
{ |
switch (Random(3)) |
{ |
case 0: |
OnRev (MLEFT); |
OnFwd (MRIGHT); |
Wait(20); |
break; |
case 1: |
OnFwd (MLEFT); |
OnRev (MRIGHT); |
Wait(20); |
break; |
case 2: |
OnRev (MLEFT); |
OnRev (MRIGHT); |
Wait(200); |
break; |
case 3: |
OnFwd (MLEFT); |
OnFwd (MRIGHT); |
Wait(200); |
break; |
} |
} |
task red_bumper() |
{ |
while(true) |
{ |
if (100 == RED) // utoc, kdyz neco narazi do narazniku |
{ |
PlaySound (SOUND_FAST_UP); |
stop stochastika; |
OnRev (MLEFT); |
OnRev (MRIGHT); |
Wait(50); |
} |
} |
} |
task blue_bumper() |
{ |
while(true) |
{ |
if (1 == BBUMPER) // utoc, kdyz neco narazi do narazniku |
{ |
PlaySound (SOUND_FAST_UP); |
stop stochastika; |
OnFwd (MLEFT); |
OnFwd (MRIGHT); |
Wait(50); |
} |
} |
} |
task cara_cervena() // hlidani natlaceni na caru |
{ |
while(true) |
{ |
if ((RED > THRESHOLD) && (RED < RED_WHITE)) |
{ |
Wait(2); |
if ((RED > THRESHOLD) && (RED < RED_WHITE)) |
{ |
PlaySound (SOUND_DOUBLE_BEEP); |
stop red_bumper; |
GoBlue(); |
start red_bumper; |
start stochastika; |
} |
} |
} |
} |
task cara_modra() // hlidani cary |
{ |
while(true) |
{ |
if (BLUE < THRESHOLD) // cekej na caru |
{ |
PlaySound (SOUND_DOUBLE_BEEP); |
stop blue_bumper; |
GoRed(); |
start blue_bumper; |
start stochastika; |
} |
} |
} |
/roboti/callis/sumo_zataceci3.nqc |
---|
0,0 → 1,155 |
#define THRESHOLD 44 // rozhodovaci uroven mezi cernou a bilou |
#define RED_WHITE 60 // maximum bile na cervenem senzoru |
#define MLEFT OUT_A |
#define MRIGHT OUT_C |
#define BLUE SENSOR_1 |
#define RED SENSOR_2 |
#define BBUMPER SENSOR_3 |
#define START_ALL start blue_bumper; start cara_cervena; start cara_modra; |
int semafor; |
task main() |
{ |
PlaySound (SOUND_DOUBLE_BEEP); |
Wait(500); // 5s podle pravidel |
SetSensor(BLUE,SENSOR_LIGHT); // senzor na caru modry |
SetSensor(RED,SENSOR_LIGHT); // senzor na caru cerveny |
SetSensor(BBUMPER, SENSOR_TOUCH); // naraznik modry |
SetSensorMode (BBUMPER, SENSOR_MODE_BOOL); // koncak bude ... |
SetPower (MLEFT,OUT_FULL); |
SetPower (MRIGHT,OUT_FULL); |
SetDirection(MLEFT, OUT_FWD); |
SetDirection(MRIGHT, OUT_FWD); |
OnFwd (MLEFT); // cuknuti na shozeni radlic |
OnFwd (MRIGHT); |
Wait(50); |
OnRev (MLEFT); |
OnRev (MRIGHT); |
Wait(100); // popojed kus |
Off(MLEFT); |
Off(MRIGHT); |
start red_bumper; |
start blue_bumper; |
start cara_cervena; |
start cara_modra; |
start stochastika; |
} |
task stochastika() |
{ |
while(true) Zatoc(); |
} |
void GoBlue() |
{ |
OnFwd (MLEFT); |
OnFwd (MRIGHT); |
Wait(300); // popojed kus |
Off(MLEFT); |
Off(MRIGHT); |
} |
void GoRed() |
{ |
OnRev (MLEFT); |
OnRev (MRIGHT); |
Wait(300); // popojed kus |
Off(MLEFT); |
Off(MRIGHT); |
} |
void Zatoc() |
{ |
switch (Random(3)) |
{ |
case 0: |
OnRev (MLEFT); |
OnFwd (MRIGHT); |
Wait(20); |
break; |
case 1: |
OnFwd (MLEFT); |
OnRev (MRIGHT); |
Wait(20); |
break; |
case 2: |
OnRev (MLEFT); |
OnRev (MRIGHT); |
Wait(70); |
break; |
case 3: |
OnFwd (MLEFT); |
OnFwd (MRIGHT); |
Wait(70); |
break; |
} |
} |
task red_bumper() |
{ |
while(true) |
{ |
if (100 == RED) // utoc, kdyz neco narazi do narazniku |
{ |
PlaySound (SOUND_FAST_UP); |
stop stochastika; |
OnRev (MLEFT); |
OnRev (MRIGHT); |
Wait(50); |
} |
} |
} |
task blue_bumper() |
{ |
while(true) |
{ |
if (1 == BBUMPER) // utoc, kdyz neco narazi do narazniku |
{ |
PlaySound (SOUND_FAST_UP); |
stop stochastika; |
OnFwd (MLEFT); |
OnFwd (MRIGHT); |
Wait(50); |
} |
} |
} |
task cara_cervena() // hlidani natlaceni na caru |
{ |
while(true) |
{ |
if ((RED > THRESHOLD) && (RED < RED_WHITE)) |
{ |
Wait(2); |
if ((RED > THRESHOLD) && (RED < RED_WHITE)) |
{ |
PlaySound (SOUND_DOUBLE_BEEP); |
stop red_bumper; |
GoBlue(); |
start red_bumper; |
start stochastika; |
} |
} |
} |
} |
task cara_modra() // hlidani cary |
{ |
while(true) |
{ |
if (BLUE < THRESHOLD) // cekej na caru |
{ |
PlaySound (SOUND_DOUBLE_BEEP); |
stop blue_bumper; |
GoRed(); |
start blue_bumper; |
start stochastika; |
} |
} |
} |
/roboti/callis/tunel.JPG |
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/roboti/callis/uxas03.jpg |
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/roboti/callis/vssver.scc |
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