Subject:
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Spybot studies: SetTxDirection() confusion
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Newsgroups:
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lugnet.robotics.spybotics
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Date:
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Fri, 7 Nov 2003 04:36:05 GMT
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Viewed:
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6362 times
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John,
I noticed the SetTxDirection() function in your mana_control.nqc program. I
thought it might be useful for my project, so it became my next subject of study.
The spy.nqh shows this:
#define TX_DIRECTION_FRONT_LEFT 0
#define TX_DIRECTION_FRONT_RIGHT 1
#define TX_DIRECTION_BACK 2
#define TX_DIRECTION_HIGH_POWER 3
#define TX_DIRECTION_PC 4
but in the 2.5 SDK, I can only find
[18] Direction
0 == high power
1 == PC
I modified your mana_control program to use each of the above defines. I observed
the Spybot using the laser LED only after executing
SetTxDirection(TX_DIRECTION_FRONT_RIGHT). For all the other values, the infrared
LED in the mid-right side of the Spybot was used. IIRC, this is the only infrared
LED, so what could FRONT_LEFT and FRONT_RIGHT and BACK mean, anyway? Also, the
SDK entry begs the question, how do I set Tx to low power?
Here's my test program, set_tx_direction.nqc:
/* set_tx_direction
*
* A study to evaluate the function of
* the TX_DIRECTION_xxx defines and the
* SetTxDirection(const int &d) function.
*
* Based on John Hansen's mana_control.nqc program.
*/
#include "spy.nqh"
#define MANAS_ALL 4
#define MANAS_1 5
#define MANAS_2 6
#define MANAS_3 7
#define EM_FLOAT 0
#define EM_OFF 8
#define EM_FWD 7
#define EM_REV 15
int em1, em2, em3, em4, em5, em6 ;
task main()
{
// turn off annoying ping
SetPingInterval(0);
// This demo starts the manas comms task, then loops forever.
// In the loop, it steps through three control phases setting
// the motors to off, and then paired forward and reverse.
start manas;
start tx_direction;
while (true)
{
em1=EM_OFF;
em2=EM_OFF;
em3=EM_OFF;
em4=EM_OFF;
em5=EM_OFF;
em6=EM_OFF;
Wait(100);
em1=EM_FWD;
em2=EM_REV;
em3=EM_FWD;
em4=EM_REV;
em5=EM_FWD;
em6=EM_REV;
Wait(100);
em1=EM_FLOAT;
em2=EM_FLOAT;
em3=EM_FLOAT;
em4=EM_FLOAT;
em5=EM_FLOAT;
em6=EM_FLOAT;
Wait(100);
em1=EM_REV;
em2=EM_FWD;
em3=EM_REV;
em4=EM_FWD;
em5=EM_REV;
em6=EM_FWD;
Wait(100);
}
}
// The manas task continuously resends the motor settings.
// When the RCX is halted, this task stops and the manas
// motors automatically shut off
task tx_direction()
{
while (true)
{
PlaySound(SOUND_CLICK);
SetTxDirection(TX_DIRECTION_FRONT_LEFT); // Observed: IR LED
Wait(100);
PlaySound(SOUND_CLICK);
Wait(10);;
PlaySound(SOUND_CLICK);
SetTxDirection(TX_DIRECTION_FRONT_RIGHT); // Observed: Laser LED
Wait(100);
PlaySound(SOUND_CLICK);
Wait(10);;
PlaySound(SOUND_CLICK);
Wait(10);;
PlaySound(SOUND_CLICK);
SetTxDirection(TX_DIRECTION_BACK); // Observed: IR LED
Wait(100);
PlaySound(SOUND_CLICK);
Wait(10);;
PlaySound(SOUND_CLICK);
Wait(10);;
PlaySound(SOUND_CLICK);
Wait(10);;
PlaySound(SOUND_CLICK);
SetTxDirection(TX_DIRECTION_HIGH_POWER); // Observed: IR LED
Wait(100);
PlaySound(SOUND_CLICK);
Wait(10);;
PlaySound(SOUND_CLICK);
Wait(10);;
PlaySound(SOUND_CLICK);
Wait(10);;
PlaySound(SOUND_CLICK);
Wait(10);;
PlaySound(SOUND_CLICK);
SetTxDirection(TX_DIRECTION_PC); // Observed: IR LED
Wait(100);
}
}
task manas()
{
SetTxType(TX_TYPE_USER);
SetTxBaud(TX_BAUD_4800);
while (true)
{
// SetTxUserChecksum(TX_USER_NO_CHECKSUM);
// SetTxUserBiPhase(TX_USER_NO_BIPHASE);
// SetTxUserPreamblePos(0);
// SetTxUserPreambleLen(0);
// SetSerialData(0,0x6f);
// SetSerialData(1,0x0b);
// SendSerial(0,2);
// em1 = 0;
/*
// Set the first unit two message bytes and send them
SetSerialData(0,(RC_CHANNEL_BROADCAST+4)*16+em1);
SetSerialData(1,em2*16+16-(((RC_CHANNEL_BROADCAST+4)+em1+em2) & 16));
SendSerial(0,2);
*/
// Set the first unit two message bytes and send them
SetSerialData(0,MANAS_1*0x10+em1);
SetSerialData(1,em2*0x10+0x10-((MANAS_1+em1+em2)&0xf));
SendSerial(0,2);
// Set the second unit two message bytes and send them
SetSerialData(0,MANAS_2*0x10+em3);
SetSerialData(1,em4*0x10+0x10-((MANAS_2+em3+em4)&0xf));
SendSerial(0,2);
// Set the third unit two message bytes and send them
SetSerialData(0,MANAS_3*0x10+em5);
SetSerialData(1,em6*0x10+0x10-((MANAS_3+em5+em6)&0xf));
SendSerial(0,2);
// Delay for a while so we can resend them regularly
Wait(10);
}
}
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