Subject:
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Re: IR Port as Proximity detector.
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Newsgroups:
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lugnet.robotics
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Date:
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Fri, 8 Jan 1999 08:21:48 GMT
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Reply-To:
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NOSPAM-DCCHEN@saynotospamPACBELL.NET-NOSPAM
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Viewed:
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1662 times
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Oops, noticed a coding error, the line that says:
level = Input(1);
Should read:
level = IN_2;
For better readability. The original version works b/c IN_2 is #defined
already as Input(1); but the latter is more readable.
I have used this threshold/proximity detection to trigger back up and
turn in a random direction task/subroutine. It works pretty good.
Will try to have the robot back up a bit, turn first left, then right
and then go whichever direction is all clear. This could be a good
technique to make maze solving robots via the "right turn" rule.
Will upload NQC code as it develops.
Dave
Old code follows:
> >
> > /*
> > * Ping
> > * ===========
> > * Reads light level into level, transmitts it out via SendMessage.
> > *
> > * Mapping:
> > * OUT_A: empty
> > * OUT_B: empty
> > * OUT_C: empty
> > * IN_1: empty
> > * IN_2: light sensor
> > * IN_3: empty
> > *
> > */
> >
> > #define THRESHOLD 70
> >
> > int level;
> >
> > task Ping
> >
> > {
> > while(true)
> > {
> > level = Input(1); <Correction, should read: level = IN_2
> > if(level > THRESHOLD)
> > PlaySound(1);
> > SendMessage(level);
> > }
> > }
> >
> > task main
> > {
> > // Set up the sensors
> > Sensor(IN_2,IN_CFG(STYPE_LIGHT, SMODE_PERCENT));
> >
> > // Start Tasks
> > start Ping;
> > }
> >
> > This has the RCX sending infrared pulses out constantly, if the
> > reflected pulse is > THRESHOLD (arbitrary values, see below), then it
> > beeps.
> >
> > THRESHOLD values I have found to cause beeps when Light Sensor is within
> > the following distances to a wall painted white (flat wall indoor
> > paint). Your milage may vary depending on ambient light.
> >
> > Threshold: 75 70 60 55-
> >
> > Range: 6" 4" 3" Triggers constantly at with the
> > ambient light.
> >
> > Perhaps a routine to adjust for Threshold = average ambient level + 20
> > would work?
> >
> > Whoever's idea this was, it was a brilliant one. Now you have an IR
> > object detector/range detector to use along with your 2 touch sensors.
> > I can now use the touch sensors for side collision detection and IR
> > sensor for front.
> >
> > Next, use a 3rd motor for side to side scanning of objects...
> >
> > Dave Chen
> > --
> > Did you check the web site first?: http://www.crynwr.com/lego-robotics
>
> --
> Did you check the web site first?: http://www.crynwr.com/lego-robotics
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