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 23:00:00 GMT
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Original-From:
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linmix <LINMIX@GMAIL.COMstopspam>
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Viewed:
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9474 times
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John Hansen wrote:
>
> The question you need to answer for yourself is this: Do I want my robot to to
> potentially execute both if blocks in sequence or do I only want the second if
> block to execute if the first condition is known to be false? If you only want
> the second one to execute when the first one is false then you want a construct
> like this:
>
> if (TachoSpeed(OUT_R) < threshold) {
> }
> else if (TachoSpeed(OUT_L) < threshold) {
> }
>
> You don't need to add another else without an if. You would benefit a lot from
> writing out your program in what is called "pseudo code".
That's exactly what I'm trying to achieve.
I hadn't actually written out any pseudo code, but it is (almost)exactly
the way I had thought it through in my head.
My main problem is that I think up what I'd like to do and then have to
scour the API to find out if it can be done and how.
That means that I make mistakes like the if/if statement because I
thought I'd found what I needed and looked no further.
> The pseudo code above would quite readily be written like this:
>
> #define threshold 62 // change to make more/less sensitive
> #define reverse(t) OnRev(OUT_L+OUT_R); Wait(t);
> #define clockwise(t) OnRev(OUT_R); OnFwd(OUT_L); Wait(t);
> #define c_clockwise(t) OnRev(OUT_L); OnFwd(OUT_R); Wait(t);
>
> task main()
> {
> OnFwd(OUT_L+OUT_R);
> until((TachoSpeed(OUT_L) > threshold) && (TachoSpeed(OUT_R) > threshold));
Shouldn't that be || instead of &&? I don't need both motors to slow
down before I take an action.
> The main problem with your approach is that the motors do not stall when the
> robot hits an obstacle so it will be hard for you to distinguish between the
> motor speed slowing due to low battery levels, increased load (like going up an
> incline), or pushing a moveable obstacle out of the way.
Actually I was thinking about writing a calibration routine tocompensate
for some of that. Something along the lines of:
place the bot against a wall
start it
wait a short time to give the motors time to get up to speed
save the TachoSpeed of left and right into a variable (maybe just one
variable with the average of both)
wait for a touch sensor to be pressed.
Start the main task
> Why not just use a
> touch sensor attached to a bumper mechanism?
>
> John Hansen
Now that would be cheating, wouldn't it ;)
I'm trying to learn to program by using NQC with a hands-on approach.
I read in the Programmer's guide that this was a possibility and decided
to try if I could make it work. So far I've learned a lot from you guys
and it is actually working better and better, so I'm really happy
linmix
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Message is in Reply To:
 | | Re: TachoSpeed.nqc
|
| (...) The question you need to answer for yourself is this: Do I want my robot to to potentially execute both if blocks in sequence or do I only want the second if block to execute if the first condition is known to be false? If you only want the (...) (20 years ago, 13-Mar-07, to lugnet.robotics)
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