Subject:
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need help for my IR proximity program
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Newsgroups:
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lugnet.robotics
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Date:
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Sat, 15 Jan 2000 14:16:12 GMT
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Original-From:
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dominic frutiger <droid11@student.ethzSPAMCAKE.ch>
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Viewed:
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763 times
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hi,
I am new here and I just bought my Invention Kit four days ago.
I searched the web for infos and found really great stuff - including
this mailing list.
I am only posting my small program for IR proximity detection and a
cruise simulator (just tones instead of motors).
This Program is compilable and working so far - but bad configured.
There is surely somebody out there who has solved a similar problem
(IR proximity detection) and who could give me tipps how to configure
the constants (at the beginning of the program) - because it is
really difficult to get a proper signal.
It's my first program with NQC, and since i'm not so familiar with
this language (i'm not really familiar with any programming
language...) i would appreciate any comment and warnings what i
should do and what not (because of limited memory for example).
Please tell me, if i am not allowed to post programs or something and
i will never do it again =).
have a nice day
df
//START
PROGRAM_______________________________________________________
// IR Proximity Warner + Cruise Simulator
/*
Author: Dominic Frutiger - Switzerland
Date: 15.01.00
Thanks: to the whole internet lego community and especially
to Svale Skogsrud who inspired this program with his hompage:
http://www.mop.no/~simen/index.htm
*/
// VARIABLES
***************************************************************
int diffLimitFar = 50; // difference limits when to react
how
int diffLimitNear = 130; // far means small difference
int diffLimitClose = 150; // close means big difference
int maxCount = 2; // how many checks steps before
reaction
int inputCount;
int waitCheck = 10; // wait between check steps 100 = 1
sec
int newInput;
int oldInput;
int proxMax;
int proximity = 0;
// FUNCTIONS
***************************************************************
void CruiseMax(){
PlayTone(800, 5);
}
void SlowDown(){
PlayTone(600, 5);
}
void Rewind(){
PlayTone(200, 5);
}
void Turn(){
PlayTone(400, 5);
}
// TASKS
*******************************************************************
task ProximityDetection(){
SendMessage(255);
newInput = SENSOR_2; // first
input stored
inputCount = 0; // initialized
while(true)
{
proxMax = 0;
inputCount = 0; // start
again with counting
while(inputCount < maxCount){ //
check as many times as maxCount
SendMessage(255);
oldInput = newInput;
newInput = SENSOR_2; // second
input stored
oldInput -= newInput; //
difference of two inputs
if(oldInput < 0){
oldInput *= -1; // make
difference positiv
}
if(oldInput > proxMax){
// if difference confirmed
proxMax = oldInput;
inputCount++; //
next step to confirm
Wait(waitCheck);
// wait before new proximity check
}
else{
proxMax = 0;
// wrong input so do it again
inputCount = 0;
} // end while
}
proximity = proxMax;
// value confirmed so use it now
if(proximity>diffLimitFar && proximity<=diffLimitNear){
proximity = diffLimitFar;
}
if(proximity>diffLimitNear &&
proximity<=diffLimitClose){
proximity = diffLimitNear;
}
if(proximity>diffLimitClose){
proximity = diffLimitClose;
}
} // end while
} // task
task Cruising(){
while(true){
if(proximity <= diffLimitFar){
CruiseMax();
}
if(proximity == diffLimitFar){
SlowDown();
}
if(proximity == diffLimitNear){
Turn();
}
if(proximity == diffLimitClose){
Rewind();
}
} // while
} // task
// MAIN
**********************************************************************
task main(){
SetSensorType(SENSOR_2, SENSOR_TYPE_LIGHT);
SetSensorMode(SENSOR_2, SENSOR_MODE_RAW);
SetTxPower(TX_POWER_HI);
PlayTone(800, 5); // cruising tone sample
Wait(100); // wait until you pulled your
hand back =)
start ProximityDetection;
start Cruising;
}
//END
PROGRAM___________________________________________________________
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Comment: have a nice day
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