WebSVN – svnkaklik – Diff – /roboti/istrobot/callis/sumo_zataceci2.bak


#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;
     }
  }
}
 

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	`OnFwd (MLEFT); // cuknuti na shozeni radlic`	25	`OnFwd (MLEFT); // cuknuti na shozeni radlic`
26	`OnFwd (MRIGHT);`	26	`OnFwd (MRIGHT);`
27	`Wait(50);`	27	`Wait(50);`
28	`GoRed();`	28	`GoRed();`
29		29
30	`start red_bumper;`	30	`start red_bumper;`
31	`start blue_bumper;`	31	`start blue_bumper;`
32	`start cara_cervena;`	32	`start cara_cervena;`
33	`start cara_modra;`	33	`start cara_modra;`
34	`start stochastika;`	34	`start stochastika;`
35	`}`	35	`}`
36		36
37	`task stochastika()`	37	`task stochastika()`
38	`{`	38	`{`
39	`while(true) Zatoc();`	39	`while(true) Zatoc();`
40	`}`	40	`}`
41		41
42		42
43	`void GoBlue()`	43	`void GoBlue()`
44	`{`	44	`{`
45	`OnFwd (MLEFT);`	45	`OnFwd (MLEFT);`
46	`OnFwd (MRIGHT);`	46	`OnFwd (MRIGHT);`
47	`Wait(300); // popojed kus`	47	`Wait(300); // popojed kus`
48	`Off(MLEFT);`	48	`Off(MLEFT);`
49	`Off(MRIGHT);`	49	`Off(MRIGHT);`
50	`}`	50	`}`
51		51
52	`void GoRed()`	52	`void GoRed()`
53	`{`	53	`{`
54	`OnRev (MLEFT);`	54	`OnRev (MLEFT);`
55	`OnRev (MRIGHT);`	55	`OnRev (MRIGHT);`
56	`Wait(300); // popojed kus`	56	`Wait(300); // popojed kus`
57	`Off(MLEFT);`	57	`Off(MLEFT);`
58	`Off(MRIGHT);`	58	`Off(MRIGHT);`
59	`}`	59	`}`
60		60
61	`void Zatoc()`	61	`void Zatoc()`
62	`{`	62	`{`
63	`switch (Random(3))`	63	`switch (Random(3))`
64	`{`	64	`{`
65	`case 0:`	65	`case 0:`
66	`OnRev (MLEFT);`	66	`OnRev (MLEFT);`
67	`OnFwd (MRIGHT);`	67	`OnFwd (MRIGHT);`
68	`Wait(200);`	68	`Wait(200);`
69	`break;`	69	`break;`
70	`case 1:`	70	`case 1:`
71	`OnFwd (MLEFT);`	71	`OnFwd (MLEFT);`
72	`OnRev (MRIGHT);`	72	`OnRev (MRIGHT);`
73	`Wait(200);`	73	`Wait(200);`
74	`break;`	74	`break;`
75	`case 2:`	75	`case 2:`
76	`OnRev (MLEFT);`	76	`OnRev (MLEFT);`
77	`OnRev (MRIGHT);`	77	`OnRev (MRIGHT);`
78	`Wait(20);`	78	`Wait(20);`
79	`break;`	79	`break;`
80	`case 3:`	80	`case 3:`
81	`OnFwd (MLEFT);`	81	`OnFwd (MLEFT);`
82	`OnFwd (MRIGHT);`	82	`OnFwd (MRIGHT);`
83	`Wait(20);`	83	`Wait(20);`
84	`break;`	84	`break;`
85	`}`	85	`}`
86	`}`	86	`}`
87		87
88	`void k_care() // najed do vyckavaci pozice`	88	`void k_care() // najed do vyckavaci pozice`
89	`{`	89	`{`
90	`OnFwd (MLEFT); // dojezd k care`	90	`OnFwd (MLEFT); // dojezd k care`
91	`OnFwd (MRIGHT); // dojezd k care`	91	`OnFwd (MRIGHT); // dojezd k care`
92	`while (BLUE > THRESHOLD);`	92	`while (BLUE > THRESHOLD);`
93	`GoRed();`	93	`GoRed();`
94	`OnRev (MLEFT);`	94	`OnRev (MLEFT);`
95	`OnRev (MRIGHT);`	95	`OnRev (MRIGHT);`
96	`Wait(100); // popojed kus`	96	`Wait(100); // popojed kus`
97	`Off(MLEFT);`	97	`Off(MLEFT);`
98	`Off(MRIGHT);`	98	`Off(MRIGHT);`
99	`}`	99	`}`
100		100
101	`task red_bumper()`	101	`task red_bumper()`
102	`{`	102	`{`
103	`while(true)`	103	`while(true)`
104	`{`	104	`{`
105	`if (100 == RED) // utoc, kdyz neco narazi do narazniku`	105	`if (100 == RED) // utoc, kdyz neco narazi do narazniku`
106	`{`	106	`{`
107	`PlaySound (SOUND_FAST_UP);`	107	`PlaySound (SOUND_FAST_UP);`
108	`stop stochastika;`	108	`stop stochastika;`
109	`OnRev (MLEFT);`	109	`OnRev (MLEFT);`
110	`OnRev (MRIGHT);`	110	`OnRev (MRIGHT);`
111	`Wait(50);`	111	`Wait(50);`
112	`}`	112	`}`
113	`}`	113	`}`
114	`}`	114	`}`
115		115
116	`task blue_bumper()`	116	`task blue_bumper()`
117	`{`	117	`{`
118	`while(true)`	118	`while(true)`
119	`{`	119	`{`
120	`if (1 == BBUMPER) // utoc, kdyz neco narazi do narazniku`	120	`if (1 == BBUMPER) // utoc, kdyz neco narazi do narazniku`
121	`{`	121	`{`
122	`PlaySound (SOUND_FAST_UP);`	122	`PlaySound (SOUND_FAST_UP);`
123	`stop stochastika;`	123	`stop stochastika;`
124	`OnFwd (MLEFT);`	124	`OnFwd (MLEFT);`
125	`OnFwd (MRIGHT);`	125	`OnFwd (MRIGHT);`
126	`Wait(50);`	126	`Wait(50);`
127	`}`	127	`}`
128	`}`	128	`}`
129	`}`	129	`}`
130		130
131	`task cara_cervena() // hlidani natlaceni na caru`	131	`task cara_cervena() // hlidani natlaceni na caru`
132	`{`	132	`{`
133	`while(true)`	133	`while(true)`
134	`{`	134	`{`
135	`if ((RED > THRESHOLD) && (RED < RED_WHITE))`	135	`if ((RED > THRESHOLD) && (RED < RED_WHITE))`
136	`{`	136	`{`
137	`Wait(2);`	137	`Wait(2);`
138	`if ((RED > THRESHOLD) && (RED < RED_WHITE))`	138	`if ((RED > THRESHOLD) && (RED < RED_WHITE))`
139	`{`	139	`{`
140	`PlaySound (SOUND_DOUBLE_BEEP);`	140	`PlaySound (SOUND_DOUBLE_BEEP);`
141	`stop red_bumper;`	141	`stop red_bumper;`
142	`GoBlue();`	142	`GoBlue();`
143	`start red_bumper;`	143	`start red_bumper;`
144	`start stochastika;`	144	`start stochastika;`
145	`}`	145	`}`
146	`}`	146	`}`
147	`}`	147	`}`
148	`}`	148	`}`
149		149
150	`task cara_modra() // hlidani cary`	150	`task cara_modra() // hlidani cary`
151	`{`	151	`{`
152	`while(true)`	152	`while(true)`
153	`{`	153	`{`
154	`if (BLUE < THRESHOLD) // cekej na caru`	154	`if (BLUE < THRESHOLD) // cekej na caru`
155	`{`	155	`{`
156	`PlaySound (SOUND_DOUBLE_BEEP);`	156	`PlaySound (SOUND_DOUBLE_BEEP);`
157	`stop blue_bumper;`	157	`stop blue_bumper;`
158	`GoRed();`	158	`GoRed();`
159	`start blue_bumper;`	159	`start blue_bumper;`
160	`start stochastika;`	160	`start stochastika;`
161	`}`	161	`}`
162	`}`	162	`}`
163	`}`	163	`}`
164		164

Subversion Repositories svnkaklik

(root)/roboti/istrobot/callis/sumo_zataceci2.bak @ 392 – Rev 1 → 5