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 Robotics / RCX / NQC / 712
711  |  713
Subject: 
Scout programming in RcxCC
Newsgroups: 
lugnet.robotics.rcx.nqc, lugnet.robotics.scout, lugnet.robotics.rcx
Date: 
Thu, 17 Aug 2000 11:14:49 GMT
Viewed: 
3598 times
  
After follow Dave's suggestion, I am successful to use RcxCC for Scout
programming, here is the method.
Edit two batch files named rcx.bat and scout.bat in rcxcc directory, the
content of files are as follows:
set NQC_OPTIONS=-TRCX
rcxcc

set NQC_OPTIONS=-TScout
rcxcc

remember to check box of "close window when exit" and select "run in min
window status" in these batch files' property. now you can use rcxcc to
create program both for RCX or Scout, just run different batch file. here is
a sample source that can be run both in RCX and Scout.

/*
* LightSeeker
* ===========
*
* Written by Zhengrong Zang
*
* The light seeker has two motors to drive the rear wheels.
* On the top there is a lightsensor using internal light sensor in Scout).
Finally, there
* is one touch sensor at the front.
*
* The behavior of the robot is as follows:
* It constantly determines the direction of the most light using the light
sensor with spinning right and left.
* Based on the direction of the light it steers the robot towards the
light.
* If the touch sensors touch something for the first time, the robot backs
up a bit.
* If they touch something again, it is assumed the goal is reached.
* This program can be used both in RCX and Scout
* Mapping:
*    OUT_A: left wheel
*    OUT_C: right wheel (OUT_B in Scout)
* SENSOR_1: touch sensors
* SENSON_2: light sensor (Inernal light sensor in Scout)
*/
#pragma noinit
#define OldFwd(a,b)        do {OnFwd(a); SetPower(a,b);} while (false)
#define OldRev(a,b)        do {OnRev(a); SetPower(a,b);} while (false)
#ifdef __SCOUT
#define Forward(s, t)      OldRev(OUT_A, s); OldRev(OUT_B, s); Wait(t);
#define Backward(s, t)     OldFwd(OUT_A, s); OldFwd(OUT_B, s); Wait(t);
#define RotateLeft(s, t)   OldFwd(OUT_A, s); OldRev(OUT_B, s); Wait(t);
#define RotateRight(s, t)  OldRev(OUT_A, s); OldFwd(OUT_B, s); Wait(t);
#define TurnLeft(s, t)     OldRev(OUT_B, s); Float(OUT_A);     Wait(t);
#define TurnRight(s, t)    OldRev(OUT_A, s); Float(OUT_B);     Wait(t);
#define PauseMotor         Float(OUT_A+OUT_B);
#define StopMotor          Off(OUT_A+OUT_B);
#endif
#ifdef __RCX
#define Forward(s, t)      OldRev(OUT_A, s); OldRev(OUT_C, s); Wait(t);
#define Backward(s, t)     OldFwd(OUT_A, s); OldFwd(OUT_C, s); Wait(t);
#define RotateLeft(s, t)   OldFwd(OUT_A, s); OldRev(OUT_C, s); Wait(t);
#define RotateRight(s, t)  OldRev(OUT_A, s); OldFwd(OUT_C, s); Wait(t);
#define TurnLeft(s, t)     OldRev(OUT_C, s); Float(OUT_A);     Wait(t);
#define TurnRight(s, t)    OldRev(OUT_A, s); Float(OUT_C);     Wait(t);
#define PauseMotor         Float(OUT_A+OUT_C);
#define StopMotor          Off(OUT_A+OUT_C);
#endif

int maxlight;   // Most light found
int flag;       // Flag to change rotation direction, 0 - change rotation
direction
int count;      // Count numbers of rotatetion
int direction;  // Direction of rotation, 0 - right, 1 - left
int touchnumb;  // number of touches

task main()
// Just initialises things
{
    // Set up the sensors
#ifdef __RCX
    SetSensor(SENSOR_1, SENSOR_TOUCH);
    SetSensor(SENSOR_3, _SENSOR_CFG(SENSOR_TYPE_LIGHT, SENSOR_MODE_RAW));
#endif

    touchnumb = 0;

    // Start it all
    start check_light;
    start check_touch;
}

task check_touch()
// Checks whether touch sensors are touched and takes action
{
    while (true) {
        if (SENSOR_1 == 1) {
    stop check_light;
           if (touchnumb > 1) {
               // Stop everything else
               StopMotor
               PlaySound(SOUND_UP);
               Wait(9);
               stop check_touch;
           }
           else {
               // backup a bit and try from there
               touchnumb += 1;
               Backward(7, 100);
               Forward(7, 0);
        start check_light;
           }
        }
    }
}

task check_light()
// Constantly keeps track of the best light direction
{
    Init();

    while(true) {

        if (SensorValueRaw(2) > maxlight) {
     PlaySound(SOUND_CLICK);

            // Rotation right
            if (direction == 0) {
                RotateRight(7, 10);
            }
            // Rotation leftt
            else {
                RotateLeft(7, 10);
            }

            flag -= 1;

            // Check numbers of rotation
            if (flag == 0) {
                // Add numbers of rotation
                count += 1;
                flag = count;

                // Change rotation direction
                if (direction == 0) {
                    direction = 1;
                }
                else {
                    direction = 0;
                }
            }
        }
        else {
            // Forward to light source
            Init();
            Forward(7, 0);
        }
    }
}

void Init()
{
    maxlight = 500;
    flag = 1;
    count = 1;
    direction = Random(1);
}



Dave Baum wrote:

In article <3998A849.7008899D@yahoo.com>, Zhengrong Zang
<legozang@yahoo.com> wrote:

Hi
I have a light-seeker NQC program for RCX, I want to port for Scout,
does anyone know how to do it? Then does Scout use external light
sensor?

BR
Zhengrong

The Scout only supports passive sensors externally (touch and
temperature).  The light sensor is supposed to be used as an active
sensor (although in some cases you can use it passively and get
reasonable results).

The Scout does have its own built-in light sensor.  It is not a
reflective sensor (like the external RCX light sensor), but just reads
ambient light levels which rules out some applications.  Its position on
the Scout can also make it a bit of a challenge to use effectively.

Internally, the Scout preprocesses the light sensor reading into one of
three states: dark, normal, or light (values 0, 1, and 2).  You can
programmatically change the thresholds and hysteresis used in converting
raw values into these three levels.  In many cases this is the best way
to use the sensor since it also allows you to take advantage of the
event monitoring capability of the Scout.

Another option is to read the raw values rather than the processed
values.  This will give your program greater resolution.  All of the NQC
calls to do these things are described in the NQC 2.2 documentation (see
http://www.enteract.com/~dbaum/nqc/beta/index.html).  You may also want
to grab the Scout SDK from www.legomindstorms.com because it contains an
excellent document on the inner workings of the Scout.

Dave

--
reply to: dbaum at enteract dot com



Message has 1 Reply:
  Re: Scout programming in RcxCC
 
(...) Zhengrong - I tried replying to your e-mail, but it bounced. I'll reply here (since the answer may be of interest to others as well). The issue was that the above code needed a Wait(9) in order for the sound to be heard on the Scout, but the (...) (24 years ago, 18-Aug-00, to lugnet.robotics.rcx.nqc, lugnet.robotics.scout, lugnet.robotics.rcx)

Message is in Reply To:
  Re: About Scout programming
 
(...) The Scout only supports passive sensors externally (touch and temperature). The light sensor is supposed to be used as an active sensor (although in some cases you can use it passively and get reasonable results). The Scout does have its own (...) (24 years ago, 15-Aug-00, to lugnet.robotics.rcx.nqc, lugnet.robotics.scout)

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