Subject:
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Re: TachoSpeed.nqc
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Newsgroups:
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lugnet.robotics
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Date:
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Tue, 13 Mar 2007 22:55:01 GMT
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Original-From:
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linmix <LINMIX@GMAILnomorespam.COM>
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Viewed:
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3597 times
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Philippe Hurbain wrote:
> I found again an old code I wrote for Cybermaster to do avoiding based
> on tacho
> slowdown.
>
> The trick is indeed to drive at a low power level, or the wheels simply sleep
> and there is not enough slowdown to be reliable.
>
> Philo
>
> --------------------
> task main ()
> {
> Drive (-5, -5);
> Wait(50);
> Drive (-3, -3);
>
> while(true)
> {
> if(TachoSpeed(1) < 50 || TachoSpeed(2) < 50)
> {
> Drive (5, 5);
> Wait(50);
> Drive (5, -5);
> Wait(50);
> Drive (-5, -5);
> Wait(50);
> Drive (-3, -3);
> }
> }
> }
> --------------------------
I guess there is a define statement missing that goes something like
#define Drive(l,r) SetPower(OUT_L, l); SetPower(OUT_R, r); On(OUT_L+OUT_R)
although the Programmer's guide doesn't mention anything about negative
values being a possibility in this case, but then again, I can't find
any clear reference to negative values...
I'll try the lower power level. It is starting to make sense to me.
linmix
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Message is in Reply To:
 | | Re: TachoSpeed.nqc
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| (...) I found again an old code I wrote for Cybermaster to do avoiding based on tacho slowdown. The trick is indeed to drive at a low power level, or the wheels simply sleep and there is not enough slowdown to be reliable. Philo ---...--- task main (...) (18 years ago, 13-Mar-07, to lugnet.robotics)
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