Subject:
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Re: My RCX is HAUNTED
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Newsgroups:
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lugnet.org.ca.rtltoronto
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Date:
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Fri, 12 Sep 2003 16:36:21 GMT
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Viewed:
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435 times
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In lugnet.org.ca.rtltoronto, Kevin L. Clague wrote:
> Given that the RCX has so few variables, I've been known to use more code to
> save variables. It is a very clever strategy IMHO, and I applaud Chris for
> thinking of it.
That code was just not elegant, but then script code are a lot harder to read
than NQC. I would applaud if those code were machine generated by another code
he wrote but they are not. If the target pattern is changed from X to something
else he have to slowly change many lines. My code only need to change two lines
for a new target pattern and it only used one 16 bit variable for pattern
status.
I will let you boys pick it apart while I drive down to Toronto...
// Project X - RTL10
// Motor macros
#define X_DEC OnFwd(OUT_A)
#define X_INC OnRev(OUT_A)
#define X_STOP Off(OUT_A)
#define Y_DEC OnFwd(OUT_C)
#define Y_INC OnRev(OUT_C)
#define Y_STOP Off(OUT_C)
#define ARM_CLOSE OnRev(OUT_B)
#define ARM_OPEN OnFwd(OUT_B)
#define ARM_STOP Off(OUT_B)
// Sensor symbols
#define X_SENSOR SENSOR_3
#define Y_SENSOR SENSOR_2
#define LIGHT SENSOR_1
#define BLOCK_LEVEL 820
// Cell grid constants
#define X_SIZE 4
#define Y_SIZE 4
#define MIN_X 0
#define MIN_Y 0
#define MAX_X (X_SIZE-1)
#define MAX_Y (Y_SIZE-1)
// Game constants
#define TOTAL_CELL (X_SIZE * Y_SIZE)
#define TOTAL_BLOCK 8
#define TOTAL_EMPTY (TOTAL_CELL - TOTAL_BLOCK)
// Arm status flags
#define OPEN 1
#define CLOSE 2
// Target pattern is 1001 0110 0110 1001
#define TARGET_PATTERN 0x9669
#define INV_TARGET_PATTERN 0x6996
// Global variables
int x, y;
int x_target, y_target;
int arm_status, arm_target;
void get_mask(int &mask, const int &x, const int &y)
{
int idx = x + y * Y_SIZE;
mask = 1;
while(idx-- > 0) mask <<= 1;
}
task x_move()
{
if(x < x_target)
{ X_INC;
while(x != x_target)
{ // Moving
while(X_SENSOR) Wait(1); // Move till we no longer touch the marker.
Wait(10); // Make sure it move away clearly.
while(!X_SENSOR) Wait(1); // Keep moving till we touch the next
marker.
x++;
}
if(x < MAX_X)
{
X_DEC;
Wait(2);
}
}
if(x > x_target)
{
X_DEC;
while(x != x_target)
{ // Moving
while(X_SENSOR) Wait(1); // Move till we no longer touch the marker.
Wait(10); // Make sure it move away clearly.
while(!X_SENSOR) Wait(1); // Keep moving till we touch the next
marker.
x--;
}
if(x > MIN_X)
{
X_INC;
Wait(2);
}
}
X_STOP;
}
task y_move()
{
while(y != y_target)
{ // Moving
if(y < y_target) Y_INC;
else Y_DEC;
while(Y_SENSOR) Wait(1); // Move till we no longer touch the marker.
Wait(20); // Make sure it move away clearly.
while(!Y_SENSOR) Wait(1); // Keep moving till we touch the next marker.
y += sign(y_target-y);
}
Y_STOP;
}
task arm_move()
{
while(x != x_target || y != y_target) Wait(4);
if(arm_status != arm_target)
{
if(arm_target == OPEN)
{
ARM_OPEN;
Wait(75);
arm_status = OPEN;
Wait(20);
ARM_STOP;
}
else
{
ARM_CLOSE;
Wait(75);
arm_status = CLOSE;
Wait(20);
ARM_STOP;
}
}
}
task main()
{
SetSensor(X_SENSOR,SENSOR_TOUCH);
SetSensor(Y_SENSOR,SENSOR_TOUCH);
SetSensor(LIGHT,SENSOR_LIGHT);
SetSensorMode(LIGHT, SENSOR_MODE_RAW);
SetPower(OUT_A | OUT_B | OUT_C, OUT_FULL);
int pattern = 0;
x = MIN_X; y = MIN_Y;
x_target = MIN_X; y_target = MIN_Y;
arm_status = OPEN; arm_target = OPEN;
// Initial physical scan.
{
int block_cnt = 0, empty_cnt = 0, x_dir = 1, mask;
while(1)
{
int temp = LIGHT;
//Wait(2);
if((temp + LIGHT) / 2 < BLOCK_LEVEL)
{
PlaySound(0);
get_mask(mask, x, y);
pattern |= mask;
if(++block_cnt == TOTAL_BLOCK) break;
}
else
if(++empty_cnt == TOTAL_EMPTY) break;
if((x_dir == 1 && x_target == MAX_X) || (x_dir == -1 && x_target ==
MIN_X))
{
x_dir = -x_dir;
y_target++;
start y_move;
while(y != y_target) Wait(2);
}
else
{
x_target += x_dir;
start x_move;
while(x != x_target) Wait(2);
}
}
// Physical scan finished. We eithered scanned enough blocks or empty
cells.
if(empty_cnt == TOTAL_EMPTY)
{ // Now we know the rest of the unscaned cell have blocks, we need to
// fill in the rest of the block bits by doing a virtual scan.
int temp_x = x, temp_y = y;
while(block_cnt < TOTAL_BLOCK)
{
if((x_dir==1 && temp_x == MAX_X) || (x_dir == -1 && temp_x == MIN_X))
{
x_dir = -x_dir;
if(temp_y == MAX_Y) break;
else
temp_y++;
}
else
temp_x += x_dir;
// Set the bit
get_mask(mask, temp_x, temp_y);
pattern |= mask;
++block_cnt;
}
} // Done filling the rest of the block bits.
} // Close scan block.
//
+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// Move blocks until the current pattern match the target pattern.
while(pattern != TARGET_PATTERN)
{
int to_x, to_y, x_dir, y_dir, mask;
// Initial scan point - close to the current (x,y), and scan toward the
opposite corner.
if(x_target < X_SIZE/2)
{ to_x = MIN_X; x_dir = 1; }
else
{ to_x = MAX_X; x_dir = -1; }
if(y_target < Y_SIZE/2)
{ to_y = MIN_Y; y_dir = 1; }
else
{ to_y = MAX_Y; y_dir = -1; }
// Find a block that need moving.
while(1)
{
get_mask(mask, to_x, to_y);
// If a block is at (to_x,to_y), but it is not in the target pattern,
// then we can move it.
if((pattern & INV_TARGET_PATTERN & mask))
{
break;
}
// Continue scan.
to_x += x_dir;
if(to_x > MAX_X)
{
to_x = MIN_X;
to_y += y_dir;
if(to_y > MAX_Y) to_y = MIN_Y;
else if(to_y < MIN_Y) to_y = MAX_Y;
}
else
if(to_x < MIN_X)
{
to_x = MAX_X;
to_y += y_dir;
if(to_y > MAX_Y) to_y = MIN_Y;
else if(to_y < MIN_Y) to_y = MAX_Y;
}
}
// Clear the block bit in the pattern.
pattern &= ~mask;
// Wait till the arm done releasing the block from previous pass.
while(arm_status != arm_target) Wait(2);
// Move the arm to the new pick up location, and pick up the block.
x_target = to_x;
start x_move;
y_target = to_y;
start y_move;
arm_target = CLOSE;
start arm_move;
// Calcaulate where to move the block to.
// Initial scan point - close to the current (x,y), and scan toward the
opposite corner.
if(x_target < X_SIZE/2)
{ to_x = MIN_X; x_dir = 1; }
else
{ to_x = MAX_X; x_dir = -1; }
if(y_target < Y_SIZE/2)
{ to_y = MIN_Y; y_dir = 1; }
else
{ to_y = MAX_Y; y_dir = -1; }
while(1)
{
get_mask(mask, to_x, to_y);
// If a space is at (to_x,to_y), but it is a block in the target pattern,
// then we can fill it.
if((~pattern) & TARGET_PATTERN & mask)
{
break;
}
// Continue scan.
to_x += x_dir;
if(to_x > MAX_X)
{
to_x = MIN_X;
to_y += y_dir;
if(to_y > MAX_Y) to_y = MIN_Y;
else if(to_y < MIN_Y) to_y = MAX_Y;
}
else
if(to_x < MIN_X)
{
to_x = MAX_X;
to_y += y_dir;
if(to_y > MAX_Y) to_y = MIN_Y;
else if(to_y < MIN_Y) to_y = MAX_Y;
}
}
// Set the dropped block bit in the pattern.
pattern |= mask;
// Wait till the arm done picking the block.
while(arm_status != CLOSE) Wait(2);
// Move the arm to the drop location.
x_target = to_x;
start x_move;
y_target = to_y;
start y_move;
arm_target = OPEN;
start arm_move;
} // while pattern loop
// Wait till the arm is there.
while(x != x_target || y != y_target) Wait(2);
arm_target = OPEN;
start arm_move;
// Wait till the arm done releasing the block.
while(arm_status != OPEN) Wait(2);
// End game!
PlaySound(1);
x_target = MIN_X; y_target = MIN_Y;
start x_move;
start y_move;
while(x != x_target || y != y_target) Wait(2);
PlaySound(3);
PlaySound(3);
}
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Message has 2 Replies:
 | | Re: My RCX is HAUNTED
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| (...) DON'T GET ME STARTED on how hard C is to read. if you do not know any language. C is just crazy (for the novice) I still don't know what the hell this means: x != x_target || y != y_target AND I DON'T WANT TO !!!! I think what's this is (...) (21 years ago, 12-Sep-03, to lugnet.org.ca.rtltoronto)
| | | Re: My RCX is HAUNTED
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| In lugnet.org.ca.rtltoronto, Ka-On Lee wrote: <snip> If we're posting Project X code--This was my favourite codeing ever-- // X-block - Runamok Design Team // Rick De Haan, David Koudys // Feb. 2002 //drive definitions //X-Axis Definitions #define (...) (21 years ago, 12-Sep-03, to lugnet.org.ca.rtltoronto)
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Message is in Reply To:
| | Re: My RCX is HAUNTED
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| (...) Man, you guys sure fight well..... As a person whos programmed at every level of the machine, microcode, machine code, assembly code, high level code, I can tell you that in tight coding environments, keeping the variables to a minimum sure (...) (21 years ago, 12-Sep-03, to lugnet.org.ca.rtltoronto)
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