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 19:40:08 GMT
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Viewed:
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518 times
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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 xoff SetOutput(OUT_A,OUT_OFF);
#define xon SetOutput(OUT_A,OUT_ON);
#define xspeed(s) SetPower(OUT_A,s);
#define xleft SetDirection(OUT_A,OUT_REV);SetOutput(OUT_A,OUT_ON);
#define xright SetDirection(OUT_A,OUT_FWD);SetOutput(OUT_A,OUT_ON);
#define xclear ClearSensor(SENSOR_1);
//Y-Axis Definitions
#define yon SetOutput(OUT_B,OUT_ON);
#define yoff SetOutput(OUT_B,OUT_OFF);
#define yspeed(s) SetPower(OUT_B,s);
#define yup SetDirection(OUT_B,OUT_FWD);SetOutput(OUT_B,OUT_ON);
#define ydown SetDirection(OUT_B,OUT_REV);SetOutput(OUT_B,OUT_ON);
#define yclear ClearSensor(SENSOR_2);
//Z-Axis Definitions
#define zoff SetOutput(OUT_C,OUT_OFF);
#define zon SetOutput(OUT_C,OUT_ON);
#define zspeed(s) SetPower(OUT_C,s);
#define zraise SetDirection(OUT_C,OUT_FWD);SetOutput(OUT_C,OUT_ON);
#define zlower SetDirection(OUT_C,OUT_REV);SetOutput(OUT_C,OUT_ON);
//Setting Intergers
//int num_blocks_correct; //current # of blocks in the correct
locations
int white_block; //highest maximum light value of white block
int loc; //where we want the grabber to be
//int sem; //to stop other tasks from working when we
don't want them working
int xx; //xx coordinate where we want to be
int yy; //yy coordinate we want to be
int semx;
int semy;
int BlockInClaw;
//Patterns
int pattern[16];
//start program
task main()
{
//Defining Sensor Inputs
SetSensorType(SENSOR_1, SENSOR_TYPE_ROTATION); SetSensorMode(SENSOR_1,
SENSOR_MODE_ROTATION);
SetSensorType(SENSOR_2, SENSOR_TYPE_ROTATION); SetSensorMode(SENSOR_2,
SENSOR_MODE_ROTATION);
SetSensorType(SENSOR_3, SENSOR_TYPE_LIGHT); SetSensorMode(SENSOR_3,
SENSOR_MODE_RAW);
//Setting Variables
// num_blocks_correct = 0;
white_block = 780;
// loc = 1;
semx=0;
semy=0;
BlockInClaw = 0;
//Setting Pattern
// Current Desired
// ======= =======
// One exists - one wanted = 0
// One exists - none wanted = -1
// None exists - one wanted = 1
// None exists - none wanted = 0
// Don't know - one wanted = 2
// Don't know - none wanted = -2
pattern[1] = 2;
pattern[2] = -2;
pattern[3] = -2;
pattern[4] = 2;
pattern[5] = -2;
pattern[6] = 2;
pattern[7] = 2;
pattern[8] = -2;
pattern[9] = -2;
pattern[10] = 2;
pattern[11] = 2;
pattern[12] = -2;
pattern[13] = 2;
pattern[14] = -2;
pattern[15] = -2;
pattern[16] = 2;
//Sounds for events
// PlaySound(0); //set on co-ordinates
// PlaySound(1); //Start/Stop Program
// PlaySound(2); //cell incorrect
// PlaySound(3); //cell correct
// PlaySound(4); //grabber dropping block - ***Error***
// PlaySound(5); //??
//Starting Main Program
PlaySound(1); //start
xspeed(7);yspeed(7);zspeed(7);
// xleft;ydown;zlower;Wait(50);xoff;yoff;zoff;Wait(20);
ClearSensor(SENSOR_1);ClearSensor(SENSOR_2);
//start movex;
//start movey;
sort ();
// start initial_scan;
// start dropped_block;
}
//=====================================================================================
//Sort Function
//=====================================================================================
void sort()
{
int m;
int n;
m = 1;
while ( m <= 16)
{
find_free_block ();
loc = m;
move_xy();
//block = yes - need block = no
if ((SENSOR_3 < white_block) && (pattern[loc] == -2))
{
pattern [loc] = -1;
}
else if ((SENSOR_3 < white_block) && (pattern[loc] == 2))
{
pattern [loc] = 0;
}
else if ((SENSOR_3 > white_block) && (pattern[loc] == 2))
{
pattern [loc] = 1;
}
else if ((SENSOR_3 > white_block) && (pattern[loc] == -2))
{
pattern [loc] = 0;
}
if ((BlockInClaw == 0 ) && (pattern[loc] == -1))
{
pick_up_block();
pattern[loc] = 0;
// See if we have passed a spot where we
// could dump this block
n = 1;
while ( n < m )
{
if (pattern[n] == 1 )
{
loc = n;
move_xy();
drop_block();
pattern [n] = 0;
n = m ;
}
n++;
}
}
if ((BlockInClaw == 1 ) && (pattern[loc] == 1))
{
drop_block();
pattern[loc] = 0;
}
m++;
}
}
//task dropped_block()
//{
// while (true)
// {
// if (SENSOR_3 > 1000)
// stop move_xy;
// xoff;yoff;
// sem=0;
// }
//}
//=====================================================================================
//FindFreeBlock
//=====================================================================================
void find_free_block ()
{
int j;
j = 1;
while ( j <= 16)
{
if (pattern[j] == -1)
{
loc = j;
move_xy();
pick_up_block ();
pattern[j] = 0 ;
return;
}
j++;
}
}
//=====================================================================================
//PickUpBlock
//=====================================================================================
// This function will Pickup a block
void pick_up_block ()
{
zspeed(7);zraise;Wait(120);zspeed(0);
BlockInClaw = 1;
}
//=====================================================================================
//DropBlock
//=====================================================================================
void drop_block()
{
zspeed(7);zlower;Wait(35);zoff;
BlockInClaw = 0;
}
//=====================================================================================
//Move_xy ( )
//=====================================================================================
void move_xy()
{
//set coordinates for where grabber should be
int k ;
k = 1 ;
while (k <= loc)
{
PlaySound(0);
Wait(10);
k++;
}
PlaySound(1);
semx=3;semy=3;
if ((loc >= 1) && (loc <= 4))
{
yy=1;
}
if ((loc >= 5) && (loc <= 8))
{
yy=2;
}
if ((loc >= 9) && (loc <= 12))
{
yy=3;
}
if ((loc >= 13) && (loc <= 16))
{
yy=4;
}
if ((loc == 1) || (loc == 8) || (loc == 9) || (loc == 16))
{
xx=1;
}
if ((loc == 2) || (loc == 7) || (loc == 10) || (loc == 15))
{
xx=2;
}
if ((loc == 3) || (loc == 6) || (loc == 11) || (loc == 14))
{
xx=3;
}
if ((loc == 4) || (loc == 5) || (loc == 12) || (loc == 13))
{
xx=4;
}
// until ((semx == 0) && (semy == 0));
movex();
movey();
}
void movex()
// This function is started as soon as the program is started and
// is constantly looping.
// Each time it loops it looks at the 'xx' variable, and will
// check to see that the claw is positioned correctly according
// to what is desirde in the 'xx' variable. If it is not in the
// correct position then we start moving.
{
//Co-ordinates of Field
int cell_spacing[4]; //co-ordinates
//Setting Grid
cell_spacing[1] = 2;
cell_spacing[2] = 30;
cell_spacing[3] = 60;
cell_spacing[4] = 88;
until ( semx == 0 )
{
if (cell_spacing[xx] == abs(SENSOR_1) && semx != 0 )
{
// If we have reached the correct spot then
// we can stop moving in the x direction.
xoff;
semx=0;
}
else if (cell_spacing[xx] > abs(SENSOR_1))
{
//Here we set the speed depending upon how close we are
//slow grabber down when close to cell
if ((cell_spacing[xx] - 3) > abs(SENSOR_1))
{
xspeed(7);
}
else
{
xspeed(0);
}
//If we are not already moving (semx variable) then
//we start moving
if ( semx != 1 )
{
xright;
semx = 1;
}
}
else if (cell_spacing[xx] < abs(SENSOR_1))
{
//move grabber left from current position
//slow grabber down when close to cell
if ((cell_spacing[xx] + 3) < abs(SENSOR_1))
{
xspeed(7);
}
else
{
xspeed(0);
}
//If we are not already moving (semx variable) then
//we start moving
if (semx != 2 )
{
xleft;
semx = 2;
} // End if if semx <> 2
} // End if else if
} // End of until
} // end of function
void movey()
// This function is started as soon as the program is started and
// is constantly looping.
// Each time it loops it looks at the 'yy' variable, and will
// check to see that the claw is positioned correctly according
// to what is desirde in the 'xx' variable. If it is not in the
// correct position then we start moving.
{
//Co-ordinates of Field
int cell_spacing[4]; //co-ordinates
//Setting Grid
cell_spacing[1] = 2;
cell_spacing[2] = 30;
cell_spacing[3] = 60;
cell_spacing[4] = 88;
until ( semy == 0 )
{
if (cell_spacing[yy] == abs(SENSOR_2) && semy != 0 )
{
// If we have reached the correct spot then
// we can stop moving in the x direction.
yoff;
semy=0;
}
else if (cell_spacing[yy] > abs(SENSOR_2))
{
//Here we set the speed depending upon how close we are
//slow grabber down when close to cell
if ((cell_spacing[yy] - 3) > abs(SENSOR_2))
{
yspeed(7);
}
else
{
yspeed(1);
}
//If we are not already moving (semx variable) then
//we start moving
if ( semy != 1 )
{
yup;
semy = 1;
}
}
else if (cell_spacing[yy] < abs(SENSOR_2))
{
//move grabber left from current position
//slow grabber down when close to cell
if ((cell_spacing[yy] + 3) < abs(SENSOR_2))
{
yspeed(7);
}
else
{
yspeed(1);
}
//If we are not already moving (semx variable) then
//we start moving
if (semy != 2 )
{
ydown;
semy = 2;
} // End if if semy <> 2
} // End if else if
} // End of until
} // end of function
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Message is in Reply To:
 | | Re: My RCX is HAUNTED
|
| (...) 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 (...) (21 years ago, 12-Sep-03, to lugnet.org.ca.rtltoronto)
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