int main() // main function
{
drive_setRampStep(10); // 10 ticks/sec / 20 ms
drive_ramp(128, 128); // Forward 2 RPS
// While disatance greater than or equal
// to 20 cm, wait 5 ms & recheck.
while(ping_cm(8) >= 20) pause(5); // Wait until object in range
drive_ramp(0, 0); // Then stop
// Turn in a random direction
turn = rand() % 2; // Random val, odd = 1, even = 0
if(turn == 1) // If turn is odd
drive_speed(64, -64); // rotate right
else // else (if turn is even)
drive_speed(-64, 64); // rotate left
// Keep turning while object is in view
while(ping_cm(8) < 20); // Turn till object leaves view
drive_ramp(0, 0); // Stop & let program end
}
int main() // Main - execution begins!
{
xbee = fdserial_open(11, 10, 0, 9600);
//dprint(xbee, "hello");
//dprint(xbee, "hello");
drive_speed(0,0); // Start servos/encoders cog
drive_setRampStep(10); // Set ramping at 10 ticks/sec per 20 ms
sirc_setTimeout(50); // Remote timeout = 50 ms
//drive_feedback(0);
dt = CLKFREQ/10;
t = CNT;
while(1) // Outer loop
{
int button = sirc_button(4); // check for remote key press
// Motion responses - if key pressed, set wheel speeds
if(button == 2)
{
if(!running)
cogstart(&gofwd, NULL, fstack, sizeof fstack);
}
if(button == 8)
{
if(!running)
cogstart(&gobkwd, NULL, bstack, sizeof bstack);
}
if(button == CH_UP)drive_rampStep(100, 100); // Left turn
if(button == CH_DN)drive_rampStep(-100, -100); // Right turn
if(button == VOL_DN)drive_rampStep(-100, 100); // Left turn
if(button == VOL_UP)drive_rampStep(100, -100); // Right turn
if(button == MUTE)drive_rampStep(0, 0); // Stop
if(button == ENTER)
{
getTicks();
displayTicks();
}
if(CNT - t > dt)
{
t+=dt;
i++;
getTicks();
if
(
ticksLeftCalc != ticksLeftCalcOld
|| ticksRightCalc != ticksRightCalcOld
|| ticksLeft != ticksLeftOld
|| ticksRight != ticksRightOld
)
{
displayTicks();
}
}
}
}
static void Config()
{
// Initialize the drive speed, set the maximum speed, and set ramp step
drive_speed(0, 0);
drive_setMaxSpeed(DEFAULT_MAX_SPEED);
// Note: Chris has a question as to whether the ramping needed to be adjusted. This needs to be addressed.
drive_setRampStep(3);
}
int main() // Main function
{
low(26);
low(27);
int irLeft, irRight;
// Add startup code here.
int leftDist, rightDist;
while(1)
{
drive_setRampStep(10);
drive_ramp(64, 64);
while(1)
{
irLeft = checkLeft();
irRight = checkRight();
irRight = ping_cm(8);
print ("left = %d, right = %d \n", irLeft, irRight);
if(irLeft == 1)
{
high(26);
}
else
{
low(26);
}
if(ping_cm(8)<=10)
{
high(27);
}
else
{
low(27);
}
if(irLeft == 1)
{
drive_ramp(0, 0);
turnLeftH();
print (" Left empty hall detected");
break;
}
if (ping_cm(8)<=9)
{
drive_ramp(0, 0);
turnBack();
print (" End of the line");
break;
}
}
}
}
