Subject:
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Re: Need help to put sound in Minerva Program.
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Newsgroups:
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lugnet.robotics.rcx.nqc
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Date:
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Mon, 1 May 2000 18:04:43 GMT
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Viewed:
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2077 times
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Many Thanks to you Jonathan. This will help a great deal with this project.
--
Bob Fay
rfay@we.mediaone.net
The Shop
http://www.geocities.com/Heartland/Bluffs/7900/
"Jonathan Knudsen" <jonathan@oreilly.com> wrote in message
news:390D8A8D.11A2B9A6@oreilly.com...
> Hi Bob,
>
> I've attached a modified version of the Minerva program. It plays
> different sounds for each of the following events:
>
> 1. Moving forward : ascending arpeggio
> 2. Turning around : descending arpeggio
> 3. Found something to pick up : deedle-deedle
>
> I'm sure you'll be able to modify these as you see fit.
>
> Regards,
> Jonathan
>
> -----
> #define TURNAROUND_TIME 425
>
> int i;
>
> task main() {
> // Arm limit sensor and grabber light sensor.
> SetSensor(SENSOR_3, SENSOR_LIGHT);
> SetPower(OUT_A + OUT_C, OUT_FULL);
>
> calibrate();
> i = 0;
> while (i < 5) {
> retrieve();
> i += 1;
> }
> Off(OUT_A + OUT_C);
> }
>
> #define NUMBER_OF_SAMPLES 10
> int runningTotal;
> int threshold;
>
> sub calibrate() {
> // Take an average light reading.
> i = 0;
> runningTotal = 0;
> while (i < NUMBER_OF_SAMPLES) {
> runningTotal += SENSOR_3;
> Wait(10);
> i += 1;
> }
> threshold = runningTotal / NUMBER_OF_SAMPLES;
> }
>
> void grab() {
> // Run the motor until we hit the limit switch.
> OnFwd(OUT_A);
> until (SENSOR_3 == 100);
> // Back off from the switch.
> OnRev(OUT_A);
> until (SENSOR_3 != 100);
> Off(OUT_A);
> }
>
> void release() {
> // Run the motor until we hit the limit switch.
> OnRev(OUT_A);
> until (SENSOR_3 == 100);
> // Back off from the switch.
> OnFwd(OUT_A);
> until (SENSOR_3 != 100);
> Off(OUT_A);
> }
>
> int returnTime;
>
> sub retrieve() {
> // Drive forward until we see something.
> OnFwd(OUT_C);
> PlaySound(SOUND_UP);
> ClearTimer(0);
> until (SENSOR_3 < threshold - 3);
> // Play a sound to signal we've found something.
> PlayTone(660, 10);
> PlayTone(494, 10);
> PlayTone(660, 10);
> PlayTone(494, 10);
> PlayTone(660, 10);
> PlayTone(494, 10);
> Wait(20); // Move up on it a little.
> returnTime = Timer(0);
> Off(OUT_C);
>
> grab();
>
> // Turn around (roughly).
> OnRev(OUT_C);
> PlaySound(SOUND_DOWN);
> Wait(TURNAROUND_TIME);
>
> // Drive back.
> OnFwd(OUT_C);
> PlaySound(SOUND_UP);
> ClearTimer(0);
> until (Timer(0) >= returnTime);
> Off(OUT_C);
>
> release();
>
> // Turn around.
> OnRev(OUT_C);
> PlaySound(SOUND_DOWN);
> Wait(TURNAROUND_TIME);
> }
> -----
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Message is in Reply To:
 | | Re: Need help to put sound in Minerva Program.
|
| Hi Bob, I've attached a modified version of the Minerva program. It plays different sounds for each of the following events: 1. Moving forward : ascending arpeggio 2. Turning around : descending arpeggio 3. Found something to pick up : deedle-deedle (...) (25 years ago, 1-May-00, to lugnet.robotics.rcx.nqc)
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