Selvmanøvrerende Mindstorms robot
Robotten kan fjernstyres og er i stand til at scanne for forhindringer og undvige. Den kan desuden informere grundigt på displayet.
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#pragma config(Sensor, S1, SoundSensor, sensorSoundDB) #pragma config(Sensor, S3, SonarSensor, sensorSONAR) #pragma config(Motor, motorA, Arm, tmotorNXT, PIDControl, encoder) #pragma config(Motor, motorB, Right, tmotorNXT, PIDControl, encoder) #pragma config(Motor, motorC, Left, tmotorNXT, PIDControl, encoder) //*!!Code automatically generated by 'ROBOTC' configuration wizard !!*// //////////// Defining global vars //////////// int SoundSensorSetting; // Create a boolean variable (true/false). int Distance_cm = 35; // Create integrier variable (16 bit, whole numbers only). string text0; string text1; string text2; string text3; int RandomNr; // Create variable "RandomNr". int Run_AI2_TurnScan; int DriveSpeed; ////////////////////////////////////////////// void drive(bool DriveMode) { if (DriveMode == true) { motor[Right] = DriveSpeed; motor[Left] = DriveSpeed; } if (DriveMode == false) { motor[Right] = 0; motor[Left] = 0; } } void AI2_TurnScan() { if (Run_AI2_TurnScan == 1) { int ScanDistance_Left; int ScanDistance_Right; drive(false); // Scan the area. nMotorEncoder[Arm] = 0; // Look to the right. while (nMotorEncoder[Arm] < 90) { motor[Arm] = 20; // Speed of the motor, where the sonar sensor is mounted. } motor[Arm] = 0; ScanDistance_Right = SensorValue[SonarSensor]; wait1Msec(1000); // Look to the left. while (nMotorEncoder[Arm] > -90) { motor[Arm] = -20; // Speed of the motor, where the sonar sensor is mounted. } motor[Arm] = 0; ScanDistance_Left = SensorValue[SonarSensor]; wait1Msec(1000); // Look forward. while (nMotorEncoder[Arm] < 0) { motor[Arm] = 10; } motor[Arm] = 0; // Check scan values in compare to variable "Distance_cm" (35cm) and mark them as possible turn direction or not. int TurnDirection; if ((ScanDistance_Left < Distance_cm) && (ScanDistance_Right < Distance_cm)) // If: Can't turn left nor right. { TurnDirection = 0; } if ((ScanDistance_Left > Distance_cm) && (ScanDistance_Right > Distance_cm)) // If: Can turn left and right. { TurnDirection = 1; } if ((ScanDistance_Left > Distance_cm) && (ScanDistance_Right < Distance_cm)) // If: Can turn left, but not right. { TurnDirection = 2; } if ((ScanDistance_Left < Distance_cm) && (ScanDistance_Right > Distance_cm)) // If: Can turn right, but not left. { TurnDirection = 3; } wait1Msec(100); // Debug, showing scan results. string DebugText1 = "TurnDir"; nxtDisplayCenteredTextLine(6, "%s, %d", DebugText1, TurnDirection); wait1Msec(250); // Turn appropriately. Pick random if both applies. Drive back and turn around if none applies. // int Rotate360Timer = 0; switch(TurnDirection) { case 0: // If: Can't turn left nor right. nMotorEncoder[Right] = 0; nMotorEncoder[Left] = 0; while ((nMotorEncoder[Left] > -500) && (nMotorEncoder[Right] > -500)) { motor[Left] = -35; motor[Right] = -35; } drive(false); nMotorEncoder[Right] = 0; nMotorEncoder[Left] = 0; wait1Msec(200); while (nMotorEncoder[Right] > -333) { // Turn 180. motor[Right] = -20; motor[Left] = 20; } drive(false); break; case 1: // If: Can turn left and right. nMotorEncoder[Right] = 0; nMotorEncoder[Left] = 0; RandomNr = random(2); // Set "RandomNr" variable to be random. "2" is the maximum number (1 or 2, 0 gets ignored). wait1Msec(100); // Debug, showing random number results. string DebugText2 = "RandomNr"; nxtDisplayCenteredTextLine(7, "%s, %d", DebugText2, RandomNr); switch(RandomNr) { case 1: // If the random number is "0". while (nMotorEncoder[Right] < 160) { // Makes the robot turn left. motor[Right] = 10; motor[Left] = -10; } drive(false); break; case 2: // If the random number is "1". while (nMotorEncoder[Left] < 160) { // Makes the robot turn right. motor[Right] = -10; motor[Left] = 10; } drive(false); break; } break; case 2: // If: Can turn left, but not right. nMotorEncoder[Right] = 0; nMotorEncoder[Left] = 0; while (nMotorEncoder[Right] < 160) { // Makes the robot turn left. motor[Right] = 10; motor[Left] = -10; } drive(false); break; case 3: // If: Can turn right, but not left. nMotorEncoder[Right] = 0; nMotorEncoder[Left] = 0; while (nMotorEncoder[Left] < 160) { // Makes the robot turn right. motor[Right] = -10; motor[Left] = 10; } drive(false); break; } } } void DrawUI(int UI_ID) { if (UI_ID == 1) { // Print the text of the "sensor settings" page on the display. text0 = "SETTINGS"; text1 = "Allow the sound"; text2 = "sensor to stop"; text3 = "the program?"; nxtDisplayCenteredBigTextLine(1, text0); // Prints the content of "text0" on line 1 as a big, centered text. nxtDisplayCenteredTextLine(3, text1); // Prints the content of "text1" on line 3 as the default centered text. nxtDisplayCenteredTextLine(4, text2); nxtDisplayCenteredTextLine(5, text3); nxtDisplayStringAt(64, 10, "Deny"); // Prints "Deny" at X(67), Y(10). nxtDisplayStringAt(9, 10, "Accept"); // Draws "The UI" of the "sensor settings" page. nxtDrawLine(0, 14, 99, 14); // Draws the UI horizontal line near the middle of the display. Syntax: From [x,y] to [x,y]. nxtDrawLine(50, 14, 50, 0); // Draws the UI vertical line near the middle of the display. nxtDrawRect(0, 0, 99, 63); // Draws the UI full screen frame of the display. } if (UI_ID == 3) { // Print the text of the "driving speed settings" page on the display. text0 = "SETTINGS"; text1 = "Set the default"; text2 = "driving speed."; nxtDisplayCenteredBigTextLine(1, text0); // "Settings". nxtDisplayCenteredTextLine(3, text1); nxtDisplayCenteredTextLine(4, text2); nxtDisplayStringAt(76, 12, "+10"); nxtDisplayStringAt(7, 12, "-10"); // Draws the UI of the "driving speed settings" page on the display. nxtDrawLine(0, 18, 99, 18); // Horizontal line. nxtDrawLine(35, 0, 35, 18); // Left vertical line 1. nxtDrawLine(31, 0, 31, 18); // Left vertical line 2. nxtDrawLine(64, 0, 64, 18); // Right vertical line 1. nxtDrawLine(68, 0, 68, 18); // Right vertical line 2. nxtDrawRect(0, 0, 99 , 63); // Border rectangle. } if (UI_ID == 4) { // Prints the text of the "starting program" page on the display. text0 = "STARTING"; text1 = "PROGRAM"; nxtDisplayCenteredBigTextLine(1, text0); nxtDisplayCenteredBigTextLine(3, text1); // Draws the "UI" for the "starting program" page. nxtDrawLine(0, 21, 99, 21); // Draws the vertical line near the middle of the display. nxtDrawRect(40, 3, 60, 18); // Draws the UI small frame around the count-down timer. nxtDrawRect(0, 0, 99, 63); // Draws the UI full screen frame of the display. } } task UILoop() { bNxtLCDStatusDisplay = true; // Boolean variable. The "NXT top status line" Will display on user-drawn LCD screens. nxtDrawRect(0, 0, 99, 54); // Draws the UI full screen frame of the display. while (true) { text0 = "Running. "; nxtDisplayCenteredTextLine(4, text0); nxtDrawRect(0, 0, 99, 54); // Draws the UI full screen frame of the display. wait1Msec(1000); text0 = "Running.. "; nxtDisplayCenteredTextLine(4, text0); nxtDrawRect(0, 0, 99, 54); // Draws the UI full screen frame of the display. wait1Msec(1000); text0 = "Running..."; nxtDisplayCenteredTextLine(4, text0); nxtDrawRect(0, 0, 99, 54); // Draws the UI full screen frame of the display. wait1Msec(1000); } } void ResetRobot() { Run_AI2_TurnScan = 0; StopTask(UILoop); drive(false); // Stop driving. wait1Msec(100); if (nMotorEncoder[Arm] < 0) // If the "arm" motor is below it's 0 position. { while (nMotorEncoder[Arm] < 0) // Run the motor until the motor reaches it's "0" position (looking forward). { motor[Arm] = 10; } motor[Arm] = 0; } if (nMotorEncoder[Arm] > 0) // If the "arm" motor is above it's 0 position. { while (nMotorEncoder[Arm] > 0) // Run the motor until the motor reaches it's "0" position (looking forward). { motor[Arm] = -10; } motor[Arm] = 0; } wait1Msec(100); StopAllTasks(); // Stops the whole program. } task StopProgramCheck() { // Clicking the "EXIT" button 2 times will terminate program, meaning 1 button-click is available for the program to use. nNxtExitClicks = 2; while (true) { // If the Sound sensor has been enabled and the detects sound above 65%.. // Or if button 0 (gray rectangle button) has been pressed... if ((nNxtButtonPressed == 0) || ((SoundSensorSetting == true) && (SensorValue[SoundSensor] > 65))) { ResetRobot(); } wait1Msec(100); } } task main() { wait1Msec(100); // Print the the "sensor settings" page on the display. DrawUI(1); // The configuration of the "sensor settings" page. bool ExitSettingsMenu = false; while (ExitSettingsMenu == false) { if (nNxtButtonPressed == 2) // If "left arrow" button has been pressed. { SoundSensorSetting = 1; ExitSettingsMenu = true; } if (nNxtButtonPressed == 1) // If "right arrow" button has been pressed. { SoundSensorSetting = 0; ExitSettingsMenu = true; } if (nNxtButtonPressed == 3) //If "orange" button has been pressed. { ExitSettingsMenu = false; } wait1Msec(100); } eraseDisplay(); wait1Msec(300); // Prints the "drive speed settings" page on the display. int DriveSpeedSetting = 100; text3 = DriveSpeedSetting; nxtDisplayStringAt(42, 12, text3); DrawUI(3); // The configuration of the "drive speed settings" page. ExitSettingsMenu = false; while (ExitSettingsMenu == false) { if (nNxtButtonPressed == 1) // Right. { if (DriveSpeedSetting < 100) { DriveSpeedSetting = DriveSpeedSetting + 10; text3 = DriveSpeedSetting; eraseDisplay(); wait1Msec(10); // If DriveSpeedSetting is 2 digits long. if ((DriveSpeedSetting > 9) && (DriveSpeedSetting < 99)) { nxtDisplayStringAt(45, 12, text3); } // If DriveSpeedSetting is 1 digit long. if (DriveSpeedSetting < 1) { nxtDisplayStringAt(47, 12, text3); } // If DriveSpeedSetting is 3 digits long. if (DriveSpeedSetting > 99) { nxtDisplayStringAt(42, 12, text3); } } DrawUI(3); wait1Msec(300); } if (nNxtButtonPressed == 2) // Left. { if (DriveSpeedSetting > 0) { DriveSpeedSetting = DriveSpeedSetting - 10; text3 = DriveSpeedSetting; eraseDisplay(); wait1Msec(10); // If DriveSpeedSetting is 2 digits long. if ((DriveSpeedSetting > 9) && (DriveSpeedSetting < 99)) { nxtDisplayStringAt(45, 12, text3); } // If DriveSpeedSetting is 1 digit long. if (DriveSpeedSetting < 1) { nxtDisplayStringAt(47, 12, text3); } if (DriveSpeedSetting > 99) { // If DriveSpeedSetting is 3 digits long. nxtDisplayStringAt(42, 12, text3); } DrawUI(3); wait1Msec(300); } } if (nNxtButtonPressed == 3) // Orange. { DriveSpeed = DriveSpeedSetting; // sets the drive speed set in above settings to be the defalt drive speed. ExitSettingsMenu = true; } wait1Msec(100); } eraseDisplay(); wait1Msec(300); // Prints the "starting program" page on the display. DrawUI(4); // Prints the count-down timer. nxtDisplayStringAt(49, 13, "3"); // Displays "3" inside the count-down timer frame. wait1Msec(1000); nxtDisplayStringAt(49, 13, "2"); // Displays "2" inside the count-down timer frame. wait1Msec(1000); nxtDisplayStringAt(49, 13, "1"); // Displays "1" inside the count-down timer frame. wait1Msec(1000); nxtDisplayStringAt(49, 13, "0"); // Displays "0" inside the count-down timer frame. wait1Msec(750); eraseDisplay(); wait1Msec(250); // Starts the task controlling the "running program" page on the display. This is running a seperate task due to its' "animated text". StartTask(UILoop); // Starts the actual program... >_< StartTask(StopProgramCheck); bFloatDuringInactiveMotorPWM = false; // Makes sure the motor stops when unpowered, intead of "coasting". Run_AI2_TurnScan = 1; while (true) // Infinite loop. { while (SensorValue[SonarSensor] > Distance_cm) { drive(true); // Sets the motor A and B to drive at the speed provided by the "drive speed settings" page. wait1Msec(100); // The robot waits 0.10 seconds till it checks the distance again (to reduce load). } AI2_TurnScan(); } } |