Subject:
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Robot Program for Rover so far...
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Newsgroups:
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lugnet.robotics.handyboard
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Date:
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Sun, 10 Sep 2000 20:51:25 GMT
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Viewed:
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1026 times
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Hi everyone.
Well I decided to go with a Quad Hall Effect encoder. I mounted
4 very small magnets on my 1" plastic drive gears and used the
Hall Effect switch that Fred recommended. Here's the code I have
and the results!
For a 180 degree turn I get 24 ticks
90 12
45 6
22.5 3
For the lego gears this is ok, possibly later when the gears on the Mars
Rover
get updated with some metal gears I will have an optical encoder. For
now I
am getting pretty good results with the hall effect encoder
Has anyone tried to have multiple devices on the SPI bus?
RTC, Polaroid Sonar, Compass ????
int irccmd = 0;
int oldirccmd ;
void main ()
{
alloff ();
sony_init(1);
start_process(getircommand());
while (irccmd != 23)
{ if (irccmd == 26 && oldirccmd != irccmd) {
go_fwd();
}
else if (irccmd == 24 && oldirccmd != irccmd) {
go_bwd();
}
else if (irccmd == 31 && oldirccmd != irccmd){
go_right ();
}
else if (irccmd == 30 && oldirccmd != irccmd) { int
irccmd = 0;
int oldirccmd ;
void main ()
{
alloff ();
sony_init(1);
start_process(getircommand());
while (irccmd != 23)
{ if (irccmd == 26 && oldirccmd != irccmd) {
go_fwd();
}
else if (irccmd == 24 && oldirccmd != irccmd) {
go_bwd();
}
else if (irccmd == 31 && oldirccmd != irccmd){
go_right ();
}
else if (irccmd == 30 && oldirccmd != irccmd) {
go_left ();
}
else if (irccmd == 63) {
stop ();
}
if (irccmd == 1 && oldirccmd != irccmd) {
go_beep ();
}
}
printf ("End Test \n");
}
void getircommand()
{
int irc;
while(1)
{
irc = ir_data(0);
if(irc)
{ go_left ();
}
else if (irccmd == 63) {
stop ();
}
if (irccmd == 1 && oldirccmd != irccmd) {
go_beep ();
}
}
printf ("End Test \n");
}
void getircommand()
{
int irc;
while(1)
{
irc = ir_data(0);
if(irc)
{
if(irc >= 128)
irc -= 127;
irccmd = irc;
}
else
defer();
}
}
void go_fwd()
{
oldirccmd = irccmd;
encoder2_counts=0;
printf ("fwd \n");
motor (1,25);
motor (2,25);
fd (1);
fd (2);
return;
}
void go_bwd () {
oldirccmd = irccmd;
encoder2_counts=0;
printf ("bwd \n");
motor (1,-25);
motor (2,-25);
bk (1);
bk (2);
return;
}
void go_right () {
oldirccmd = irccmd;
encoder2_counts=0;
printf ("right \n");
motor (1,25);
return;
}
void go_bwd () {
oldirccmd = irccmd;
encoder2_counts=0;
printf ("bwd \n");
motor (1,-25);
motor (2,-25);
bk (1);
bk (2);
return;
}
void go_right () {
oldirccmd = irccmd;
encoder2_counts=0;
printf ("right \n");
motor (1,25);
motor (2,-25);
fd (1);
bk (2);
return;
}
void go_left () {
oldirccmd = irccmd;
encoder2_counts=0;
printf ("left \n");
motor (2,25);
motor (1,-25);
fd (2);
bk (1);
return;
}
void stop ()
{
oldirccmd = 100000;
printf ("stop \n");
printf ("%d encoder ticks \n", encoder2_counts);
alloff();
sleep (1.5);
return;
}
void go_beep ()
{
oldirccmd = irccmd;
printf ("beep \n");
beep();
return;
}
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