Subject:
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Here's the code I wrote so far, any ideas why my Polaroid 6500 has only 15ft range?
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Newsgroups:
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lugnet.robotics.handyboard
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Date:
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Tue, 12 Sep 2000 03:17:11 GMT
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Viewed:
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1294 times
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Hi everyone,
Here's some code that I have so far. I have no clue why I only get 15'
range out of my Polaroid 6500.
I did not get the usual fastener that clasps the tranducer into place,
could that do it?
My tansducer is mounted on "sensor array" platform where I can plan and
tilt with servos.
I was a little disapointed when 16' was out of range, there must me
something wrong.
I added the .1uF cap at C7 as the directions suggest.
Also.. as you can see from the sonarscan routing I "void" out a ping
that's out of range..
why do I still get a bad value , backup and turn left?
Right now my pan & tily mechanism is on some ugly perf board that's
mounted on my
servos. I'll be thinking up a better way to mount this eventualy.
I'm really starting to like Interactive C. running sensor scans as a
process, gotta love that.
anyway.. here's the code so far. I use my Multi TV remote to run this.
Next up is Infra Red
Proximity, Man if I new I was limited to 15ft I'd go the Sharp GPD
route.
If anyone has any clue why I get limited range let me know please!
For now, here' s what I've got done so far:
int sonarpid ;
int irccmd = 0;
int oldirccmd ;
int rotate = 0;
int sonarhit;
void main ()
{
init_expbd_servos (1);
alloff ();
sony_init(1);
start_process(getircommand());
while (irccmd != 23)
{ if (irccmd == 3 && oldirccmd != irccmd)
{
path1();
}
if (irccmd == 4 && oldirccmd != irccmd)
{
path2();
}
if (irccmd == 5 && oldirccmd != irccmd)
{
path3();
}
if (irccmd == 6 && oldirccmd != irccmd)
{
explore();
}
{ 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)
{
if(irc >= 128)
irc -= 127;
irccmd = irc;
}
else
defer();
}
}
void go_fwd()
{
oldirccmd = irccmd;
encoder2_counts=0;
motor (1,25);
motor (2,25);
}
void go_bwd () {
oldirccmd = irccmd;
encoder2_counts=0;
motor (1,-25);
motor (2,-25);
}
void go_right () {
oldirccmd = irccmd;
encoder2_counts=0;
motor (1,25);
motor (2,-25);
}
void go_left () {
oldirccmd = irccmd;
encoder2_counts=0;
motor (2,25);
motor (1,-25);
}
void stop ()
{
oldirccmd = 100000;
printf ("stop \n");
printf ("%d encoder ticks \n", encoder2_counts);
alloff();
sleep (1.5);
}
void go_beep ()
{
oldirccmd = irccmd;
printf ("beep \n");
beep();
return;
}
void path1()
{
printf ("Follwing PATH1 \n");
while (irccmd != 63){
alloff();
go_fwd();
while (encoder2_counts < 40){
}
go_bwd ();
alloff();
sleep (0.5);
beep ();
go_right();
while (encoder2_counts < 24){
}
go_bwd ();
alloff();
sleep (0.5);
}
beep ();
beep ();
beep ();
}
void path2()
{
printf ("Following PATH2 \n");
while (irccmd != 63){
alloff();
go_fwd();
while (encoder2_counts < 23){}
sleep (0.5);
go_right();
while (encoder2_counts < 13){}
go_bwd ();
alloff();
sleep (0.5);
}
alloff();
beep();
beep ();
beep ();
}
void path3 ()
{
rotate = 0;
printf ("Following PATH3 \n");
while (irccmd != 63){
alloff ();
while (rotate != 20)
{
go_right();
beep ();
rotate = rotate +1;
while (encoder2_counts < 2){}
alloff ();
beep ();
sleep (2.0);
}
rotate = 0;
while (rotate != 20)
{
go_left();
beep ();
rotate = rotate +1;
while (encoder2_counts < 2){}
alloff();
beep ();
sleep (2.0);
}
}
alloff();
beep ();
beep ();
beep ();
}
void explore ()
{
printf ("Exploring! \n");
sonar_init ();
sonarpid = start_process (sonarscan());
while (irccmd != 63){
alloff ();
while (sonarhit > 3500){ go_fwd();}
alloff();
beep();
encoder2_counts=0;
go_bwd();
while (encoder2_counts < 10){}
encoder2_counts=0;
alloff();
go_right ();
while (encoder2_counts < 12) {}
alloff();
}
alloff();
kill_process (sonarpid);
beep ();
beep ();
beep ();
beep ();
}
void sonarscan ()
{
int ping;
while (1) {
ping = sonar_closeup();
if (ping != -1) {sonarhit = ping;}
else {sonarhit = 99999;}
msleep (1000L);
} }
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