| 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; |
| } |
| |