Subject:
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RE: RCX & RIS, a fading glory?
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Newsgroups:
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lugnet.robotics
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Date:
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Thu, 6 Feb 2003 18:38:28 GMT
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Original-From:
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Andrew J. Huang <AJHUANG@VELOCITUS.NETnomorespam>
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Viewed:
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601 times
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Marco thought:
> hmmm... I prefer the method using a High_Level • map in the
> source code or as a .h file
From a code writing point of view, defining macros
that identify the motor is much nicer than having
to list out the path to the motor. However, when
you have to replace a dodgy motor on an
individual, you'll have to re-map the motor name
(revise the .h) and then recompile. If you're on
Mars, or at a standalone (no reprogramming)
competition, a recompile and download isn't
convenient.
A route to the motor isn't so bad since it can be
encoded as a macro just the same:
#define RightHand_Finger1 down_neck, \
first_right_appendage, \
past_rotator_cuff, \
past_elbow-joint, \
first_daisy chain
...
do_thumb(degrees) {
packet = create_packet();
setPacketDest(packet, RightHandFinger1);
if (degrees > 0)
packet->command = MOTOR_ON_CCW
else
packet->command = MOTOR_ON_CW
packet->value = degrees*SECS_PER_DEGREE;
sendPacket(packet);
free_packet(packet);
}
This is pretty similar to what you suggested, but
abstracting the operations to a little higher
level.
The main codeline should then look like:
main()
do_thumb(10);
do_forefinger(MAX);
etc.
However, the main point is that you can hide an
arbitrary amount of code ugliness.
Best regards,
Andy
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Message has 1 Reply:
 | | RE: RCX & RIS, a fading glory?
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| (...) Yes, you're right. :) The alternative would be to tweak the Device_ID/Friendly_Device_Name table in real-time, updating the new Device_ID. Then, the compile-time table with the Friendly_Device_Name...cific_Name would still valid. (...) Seconds (...) (21 years ago, 11-Feb-03, to lugnet.robotics)
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Message is in Reply To:
| | RE: RCX & RIS, a fading glory?
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| (...) hmmm... I prefer the method using a High_Level map in the source code or as a .h file ///.../// #IFDEF _TWINROBOTA_ #INCLUDE 'TwinRobotA_devmap.h' #ENDIF #IFDEF _TWINROBOTB_ #INCLUDE 'TwinRobotB_devmap.h' #ENDIF #IFDEF _TWINROBOTC_ #INCLUDE (...) (21 years ago, 6-Feb-03, to lugnet.robotics)
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