Subject:
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Re: Connection between two different teams of robots
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Newsgroups:
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lugnet.robotics.rcx.nqc
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Date:
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Thu, 23 Nov 2000 14:38:40 GMT
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Viewed:
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2188 times
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In lugnet.robotics.rcx.nqc, Bernd Frassek writes:
> Hi Giancarlo,
>
> I had a similar situation but only with two RCXs which had to exchange
> information with another constantly. Since both of them were sending and
> transmitting via their IR interface, the messages had to be identified and
> assigned to the corresponding robot.
>
> In your case I would setup 4 classes of messages, each class standing for a
> transmitting robot. Assuming that you have to exchange status messages from 0 -
> 9 for each robot, you could do this classification:
>
> 10 - 19 : robot 1
> 20 - 29 : robot 2
> 30 - 39 : robot 3
> 40 - 49 : robot 4
>
> If a robot gets a message and e.g. it should only listen to robot 3, you
> analyse it with
>
> cmd = Message ();
> if ((cmd / 10) == 3) cmd = cmd - cmd / 10;
>
> If robot 3 sent a "35" message, cmd will be 5.
> Of course you can do the classification in another way if you want to send
> bigger numbers than 9 (e.g. 1-50: robot 1, 51 - 100: robot 2, etc.).
>
> Don't forget that there is a lot of "noise" around since every robot is
> transmitting.
>
> I would do the receiving and analysing part in a separate task, being executed
> in parallel to your other tasks. The task must be quick and check the message
> input buffer continuously. It should present the result in a global variable
> which is 0, if the robot should ignore it or it is equal cmd (i.e. > 0)
> otherwise.
>
> With 2 RCXs it worked perfectly and I couldn't detect any significant delay.
>
> Best regards
> Bernd
I think that should work. I have only two teams, that means I could use the
same coding system you used for two robots (they just need to know they are
in the same team) so I have a lot of bytes available to transmit a message.
If the coordinates system concernig the position of the robots is not too
complicated they could give enough information to the team member.
Thank you
Carlo
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