WebSVN – svnkaklik – Diff – /roboti/istrobot/callis/sumo_zataceci.nqc


#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;
  }
}
 

Rev 1	Rev 5
1	`#define THRESHOLD 44 // rozhodovaci uroven mezi cernou a bilou`	1	`#define THRESHOLD 44 // rozhodovaci uroven mezi cernou a bilou`
2	`#define RED_WHITE 60 // maximum bile na cervenem senzoru`	2	`#define RED_WHITE 60 // maximum bile na cervenem senzoru`
3	`#define MLEFT OUT_A`	3	`#define MLEFT OUT_A`
4	`#define MRIGHT OUT_C`	4	`#define MRIGHT OUT_C`
5	`#define BLUE SENSOR_1`	5	`#define BLUE SENSOR_1`
6	`#define RED SENSOR_2`	6	`#define RED SENSOR_2`
7	`#define BBUMPER SENSOR_3`	7	`#define BBUMPER SENSOR_3`
8	`#define START_ALL start blue_bumper; start cara_cervena; start cara_modra;`	8	`#define START_ALL start blue_bumper; start cara_cervena; start cara_modra;`
9		9
10	`int semafor;`	10	`int semafor;`
11		11
12	`task main()`	12	`task main()`
13	`{`	13	`{`
14	`PlaySound (SOUND_DOUBLE_BEEP);`	14	`PlaySound (SOUND_DOUBLE_BEEP);`
15	`Wait(500); // 5s podle pravidel`	15	`Wait(500); // 5s podle pravidel`
16	`SetSensor(BLUE,SENSOR_LIGHT); // senzor na caru modry`	16	`SetSensor(BLUE,SENSOR_LIGHT); // senzor na caru modry`
17	`SetSensor(RED,SENSOR_LIGHT); // senzor na caru cerveny`	17	`SetSensor(RED,SENSOR_LIGHT); // senzor na caru cerveny`
18	`SetSensor(BBUMPER, SENSOR_TOUCH); // naraznik modry`	18	`SetSensor(BBUMPER, SENSOR_TOUCH); // naraznik modry`
19	`SetSensorMode (BBUMPER, SENSOR_MODE_BOOL); // koncak bude ...`	19	`SetSensorMode (BBUMPER, SENSOR_MODE_BOOL); // koncak bude ...`
20	`SetPower (MLEFT,OUT_FULL);`	20	`SetPower (MLEFT,OUT_FULL);`
21	`SetPower (MRIGHT,OUT_FULL);`	21	`SetPower (MRIGHT,OUT_FULL);`
22	`SetDirection(MLEFT, OUT_FWD);`	22	`SetDirection(MLEFT, OUT_FWD);`
23	`SetDirection(MRIGHT, OUT_FWD);`	23	`SetDirection(MRIGHT, OUT_FWD);`
24		24
25	`// k_care();`	25	`// k_care();`
26	`OnFwd (MLEFT); // dojezd k care`	26	`OnFwd (MLEFT); // dojezd k care`
27	`OnFwd (MRIGHT); // dojezd k care`	27	`OnFwd (MRIGHT); // dojezd k care`
28	`Wait(50);`	28	`Wait(50);`
29	`GoRed();`	29	`GoRed();`
30		30
31	`start red_bumper;`	31	`start red_bumper;`
32	`start blue_bumper;`	32	`start blue_bumper;`
33	`start cara_cervena;`	33	`start cara_cervena;`
34	`start cara_modra;`	34	`start cara_modra;`
35	`semafor = false;`	35	`semafor = false;`
36		36
37	`ClearTimer (0);`	37	`ClearTimer (0);`
38	`start stochastika;`	38	`start stochastika;`
39	`}`	39	`}`
40		40
41	`task stochastika()`	41	`task stochastika()`
42	`{`	42	`{`
43	`while (true)`	43	`while (true)`
44	`{`	44	`{`
45	`Wait(500);`	45	`Wait(500);`
46	`if (semafor) start blue_bumper;`	46	`if (semafor) start blue_bumper;`
47		47
48	`PlaySound (SOUND_CLICK);`	48	`PlaySound (SOUND_CLICK);`
49		49
50	`OnFwd (MLEFT); // dojezd k care`	50	`OnFwd (MLEFT); // dojezd k care`
51	`OnFwd (MRIGHT); // dojezd k care`	51	`OnFwd (MRIGHT); // dojezd k care`
52	`while (BLUE > THRESHOLD);`	52	`while (BLUE > THRESHOLD);`
53	`GoRed();`	53	`GoRed();`
54	`OnRev (MLEFT);`	54	`OnRev (MLEFT);`
55	`OnRev (MRIGHT);`	55	`OnRev (MRIGHT);`
56	`Wait(100); // popojed kus`	56	`Wait(100); // popojed kus`
57	`Zatoc();`	57	`Zatoc();`
58		58
59	`ClearTimer (0);`	59	`ClearTimer (0);`
60	`}`	60	`}`
61	`}`	61	`}`
62		62
63	`void GoBlue()`	63	`void GoBlue()`
64	`{`	64	`{`
65	`OnFwd (MLEFT);`	65	`OnFwd (MLEFT);`
66	`OnFwd (MRIGHT);`	66	`OnFwd (MRIGHT);`
67	`Wait(100); // popojed kus`	67	`Wait(100); // popojed kus`
68	`Off(MLEFT);`	68	`Off(MLEFT);`
69	`Off(MRIGHT);`	69	`Off(MRIGHT);`
70	`}`	70	`}`
71		71
72	`void GoRed()`	72	`void GoRed()`
73	`{`	73	`{`
74	`OnRev (MLEFT);`	74	`OnRev (MLEFT);`
75	`OnRev (MRIGHT);`	75	`OnRev (MRIGHT);`
76	`Wait(100); // popojed kus`	76	`Wait(100); // popojed kus`
77	`Off(MLEFT);`	77	`Off(MLEFT);`
78	`Off(MRIGHT);`	78	`Off(MRIGHT);`
79	`}`	79	`}`
80		80
81	`void Zatoc()`	81	`void Zatoc()`
82	`{`	82	`{`
83	`switch (Random(2))`	83	`switch (Random(2))`
84	`{`	84	`{`
85	`case 0:`	85	`case 0:`
86	`OnRev (MLEFT);`	86	`OnRev (MLEFT);`
87	`OnFwd (MRIGHT);`	87	`OnFwd (MRIGHT);`
88	`break;`	88	`break;`
89	`case 1:`	89	`case 1:`
90	`OnFwd (MLEFT);`	90	`OnFwd (MLEFT);`
91	`OnRev (MRIGHT);`	91	`OnRev (MRIGHT);`
92	`break;`	92	`break;`
93	`case 2:`	93	`case 2:`
94	`OnRev (MLEFT);`	94	`OnRev (MLEFT);`
95	`OnRev (MRIGHT);`	95	`OnRev (MRIGHT);`
96	`}`	96	`}`
97	`Wait(100); // popojed kus`	97	`Wait(100); // popojed kus`
98	`Off(MLEFT);`	98	`Off(MLEFT);`
99	`Off(MRIGHT);`	99	`Off(MRIGHT);`
100	`}`	100	`}`
101		101
102	`void k_care() // najed do vyckavaci pozice`	102	`void k_care() // najed do vyckavaci pozice`
103	`{`	103	`{`
104	`OnFwd (MLEFT); // dojezd k care`	104	`OnFwd (MLEFT); // dojezd k care`
105	`OnFwd (MRIGHT); // dojezd k care`	105	`OnFwd (MRIGHT); // dojezd k care`
106	`while (BLUE > THRESHOLD);`	106	`while (BLUE > THRESHOLD);`
107	`GoRed();`	107	`GoRed();`
108	`OnRev (MLEFT);`	108	`OnRev (MLEFT);`
109	`OnRev (MRIGHT);`	109	`OnRev (MRIGHT);`
110	`Wait(100); // popojed kus`	110	`Wait(100); // popojed kus`
111	`Off(MLEFT);`	111	`Off(MLEFT);`
112	`Off(MRIGHT);`	112	`Off(MRIGHT);`
113	`}`	113	`}`
114		114
115	`task red_bumper()`	115	`task red_bumper()`
116	`{`	116	`{`
117	`while(true)`	117	`while(true)`
118	`{`	118	`{`
119	`while (100 != RED); // utoc, kdyz neco narazi do narazniku`	119	`while (100 != RED); // utoc, kdyz neco narazi do narazniku`
120	`PlaySound (SOUND_FAST_UP);`	120	`PlaySound (SOUND_FAST_UP);`
121	`stop stochastika;`	121	`stop stochastika;`
122	`GoRed();`	122	`GoRed();`
123	`//!!! Zatoc();`	123	`//!!! Zatoc();`
124	`start stochastika;`	124	`start stochastika;`
125	`if (semafor) start blue_bumper;`	125	`if (semafor) start blue_bumper;`
126	`}`	126	`}`
127	`}`	127	`}`
128		128
129	`task blue_bumper()`	129	`task blue_bumper()`
130	`{`	130	`{`
131	`semafor = false;`	131	`semafor = false;`
132	`while (0 == BBUMPER); // utoc, kdyz neco narazi do narazniku`	132	`while (0 == BBUMPER); // utoc, kdyz neco narazi do narazniku`
133	`PlaySound (SOUND_FAST_UP);`	133	`PlaySound (SOUND_FAST_UP);`
134	`OnFwd (MLEFT);`	134	`OnFwd (MLEFT);`
135	`OnFwd (MRIGHT);`	135	`OnFwd (MRIGHT);`
136	`semafor = true;`	136	`semafor = true;`
137	`}`	137	`}`
138		138
139	`task cara_cervena() // hlidani natlaceni na caru`	139	`task cara_cervena() // hlidani natlaceni na caru`
140	`{`	140	`{`
141	`while(true)`	141	`while(true)`
142	`{`	142	`{`
143	`while (RED < THRESHOLD \|\| RED > RED_WHITE); // utoc, kdyz nas neco dotlaci k care`	143	`while (RED < THRESHOLD \|\| RED > RED_WHITE); // utoc, kdyz nas neco dotlaci k care`
144	`Wait(2); // kontrola za 20ms, aby se to nespletlo s naraznikem`	144	`Wait(2); // kontrola za 20ms, aby se to nespletlo s naraznikem`
145	`if (RED > THRESHOLD && RED < RED_WHITE)`	145	`if (RED > THRESHOLD && RED < RED_WHITE)`
146	`{`	146	`{`
147	`PlaySound (SOUND_DOUBLE_BEEP);`	147	`PlaySound (SOUND_DOUBLE_BEEP);`
148	`GoBlue();`	148	`GoBlue();`
149	`}`	149	`}`
150	`}`	150	`}`
151	`}`	151	`}`
152		152
153	`task cara_modra() // hlidani cary`	153	`task cara_modra() // hlidani cary`
154	`{`	154	`{`
155	`while(true)`	155	`while(true)`
156	`{`	156	`{`
157	`while (BLUE > THRESHOLD); // cekej na caru`	157	`while (BLUE > THRESHOLD); // cekej na caru`
158	`stop cara_cervena;`	158	`stop cara_cervena;`
159	`PlaySound (SOUND_DOUBLE_BEEP);`	159	`PlaySound (SOUND_DOUBLE_BEEP);`
160	`GoRed();`	160	`GoRed();`
161	`if (semafor) start blue_bumper;`	161	`if (semafor) start blue_bumper;`
162	`start cara_cervena;`	162	`start cara_cervena;`
163	`}`	163	`}`
164	`}`	164	`}`
165		165

Subversion Repositories svnkaklik

(root)/roboti/istrobot/callis/sumo_zataceci.nqc @ 378 – Rev 1 → 5