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/roboti/istrobot/callis/CARA.xls
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/roboti/istrobot/callis/Callis.bak
0,0 → 1,202
// Soutezni robot pro Istrobot 2004
// $Archive: /Lego/Callis/callis.nqc $
// $Date: 27.04.04 21:19 $
// $Revision: 23 $
 
#define THRESHOLD 50 // rozhodovaci uroven mezi cernou a bilou
#define ML OUT_A // Motory
#define MR OUT_C
#define FL OnFwd(ML) // Vpred
#define FR OnRev(MR)
#define BL OnRev(ML) // Vzad
#define BR OnFwd(MR)
#define RSENSOR SENSOR_3 // Senzory na caru
#define LSENSOR SENSOR_1
#define BUMPER SENSOR_2 // Senzor na cihlu
#define MEZERA 38 // jak se muze jet dlouho bez cary
#define COUVEJ 70 // kolik se ma couvat po detekci diry
#define CIKCAK 40 // kolik se ma jet cik/cak
#define PRES_DIRU 35 // jak predpokladame velkou diru
 
#define L 0 // left
#define R 1 // right
#define S 2 // straight
 
#define STOP Off(ML + MR); Wait(10); // zastav 8
 
int movement; // smer minuleho pohybu
int line; // na ktere strane byla detekovana cara
int dira; // pocitadlo pro nalezeni preruseni cary
int n; // pomocna promena pro cyklus FOR
 
 
void cikcak() // Hledani cary
{
n=CIKCAK/2; // poprve hned zatoc opacne, nez se jelo pred detekci diry
switch(movement) // zmenime smer zataceni
{
case L:
FL; BR; // doprava
movement=R; // poznamenej kam jedem
line=L; // kdyz prejedem, tak bude cara vlevo
break;
case R:
FR; BL; // doleva
movement=L; // poznamenej kam jedem
line=R; // kdyz prejedem, tak bude cara vpravo
break;
}
 
while(true) // jed cik-cak, dokud nenajdes caru
{
if ((THRESHOLD < RSENSOR) || (THRESHOLD < RSENSOR)) // je cara ?
{
STOP;
break;
};
if (CIKCAK < n++) // Jedeme uz dost dlouho cik? Pak jed cak.
{
n=0;
STOP;
switch(movement) // zmenime smer zataceni
{
case L:
FL; BR; // doprava
movement=R; // poznamenej kam jedem
line=L; // kdyz prejedem, tak bude cara vlevo
break;
case R:
FR; BL; // doleva
movement=L; // poznamenej kam jedem
line=R; // kdyz prejedem, tak bude cara vpravo
break;
}
}
}
}
 
task main()
{
PlaySound (SOUND_DOUBLE_BEEP);
Wait(100); // 1s
SetSensor(RSENSOR,SENSOR_LIGHT); // senzor na caru modry pravy
SetSensor(LSENSOR,SENSOR_LIGHT); // senzor na caru modry levy
SetSensor(BUMPER,SENSOR_TOUCH); // sensor na prekazku
 
SetPower (ML,OUT_FULL); // vykon motoru
SetPower (MR,OUT_FULL);
movement=R;
line=S;
dira=0;
cikcak(); // toc se, abys nasel caru
FL; FR; // vpred
 
// Sledovani cary
while(true)
{
if(BUMPER) // je cihla?
{
PlaySound(SOUND_DOWN);
objizdka(); // objed cihlu
}
 
if (THRESHOLD < RSENSOR) // Cara pod pravym senzorem
{
dira=0; // nuluj pocitadlo diry, protoze jsme videli caru
line=R; // zaznamenej, kdes videl caru
FL; FR; // rovne
continue;
}
 
if (THRESHOLD < LSENSOR) // Cara pod levym senzorem
{
dira=0; // nuluj pocitadlo diry, protoze jsme videli caru
line=L; // zaznamenej, kdes videl caru
FL; FR; // rovne
continue;
}
 
// oba senzory mimo caru
 
if (0==dira) // v prvnim cyklu po ztrate cary zacneme zahybat
// v ostatnich cyklech nedelame nic (pro urychleni snimani)
{
switch(line) // kdyz nevidis caru, tak jed tam, kdes ji videl naposled
{
case L:
Off(ML); // doleva
movement=L; // poznamenej kam jedes
break;
case R:
Off(MR); // doprava
movement=R; // poznamenej kam jedes
break;
};
dira++; // zvets pocitadlo diry, aby to pristi cyklus tudy neslo
continue; // co nejrychleji se vrat na snimani cary
}
 
if (MEZERA < dira++) // nejedeme uz moc dlouho bez cary?
{
dira=0;
PlaySound (SOUND_FAST_UP);
switch(movement) // kam se jelo ?
{
case L:
Off(ML); // couvej doprava
BR;
Wait(COUVEJ+10);
movement=R;
break;
case R:
BL; // couvej doleva
Off(MR);
Wait(COUVEJ);
movement=L;
break;
}
PlaySound(SOUND_CLICK);
STOP; // konec couvani
FL; FR; // rovne pres diru
Wait(PRES_DIRU);
STOP;
cikcak(); // najdi caru
FR; FL; // vpred
} // dira
} // while(true)
}
 
void objizdka()
{
BL; BR; // zacouvej
Wait(15);
STOP;
 
cikcak(); // vyrovnej se na caru
cikcak(); // radeji 3x, aby se vyrovnaly setrvacne sily
cikcak();
 
BL; FR; Wait(22); // vlevo
STOP;
FL; FR; Wait(65); // rovne
STOP;
FL; BR; Wait(22); // vpravo
STOP;
FL; FR; Wait(77); // rovne
STOP;
FL; BR; Wait(22); // vpravo
STOP;
FL; FR;
Wait(20); // kousek rovne
// rovne, dokud nenarazis na caru
while(THRESHOLD > RSENSOR); // pravej senzor, protoze cihla je vpravo
STOP;
BL; FR; // toc se doleva, dokud nenarazis na caru
while(THRESHOLD > LSENSOR); // levej senzor, protoze cara je urcite vlevo
STOP;
line=R; // caru predpokladame vpravo, kdybysme ji prejeli
dira=0;
FL; FR; // vpred
}
/roboti/istrobot/callis/Callis.nqc
0,0 → 1,202
// Soutezni robot pro Istrobot 2004
// $Archive: /Lego/Callis/callis.nqc $
// $Date: 27.04.04 22:51 $
// $Revision: 24 $
 
#define THRESHOLD 50 // rozhodovaci uroven mezi cernou a bilou
#define ML OUT_A // Motory
#define MR OUT_C
#define FL OnFwd(ML) // Vpred
#define FR OnRev(MR)
#define BL OnRev(ML) // Vzad
#define BR OnFwd(MR)
#define RSENSOR SENSOR_3 // Senzory na caru
#define LSENSOR SENSOR_1
#define BUMPER SENSOR_2 // Senzor na cihlu
#define MEZERA 38 // jak se muze jet dlouho bez cary
#define COUVEJ 70 // kolik se ma couvat po detekci diry
#define CIKCAK 40 // kolik se ma jet cik/cak
#define PRES_DIRU 35 // jak predpokladame velkou diru
 
#define L 0 // left
#define R 1 // right
#define S 2 // straight
 
#define STOP Off(ML + MR); Wait(10); // zastav 8
 
int movement; // smer minuleho pohybu
int line; // na ktere strane byla detekovana cara
int dira; // pocitadlo pro nalezeni preruseni cary
int n; // pomocna promena pro cyklus FOR
 
 
void cikcak() // Hledani cary
{
n=CIKCAK/2; // poprve hned zatoc opacne, nez se jelo pred detekci diry
switch(movement) // zmenime smer zataceni
{
case L:
FL; BR; // doprava
movement=R; // poznamenej kam jedem
line=L; // kdyz prejedem, tak bude cara vlevo
break;
case R:
FR; BL; // doleva
movement=L; // poznamenej kam jedem
line=R; // kdyz prejedem, tak bude cara vpravo
break;
}
 
while(true) // jed cik-cak, dokud nenajdes caru
{
if ((THRESHOLD < RSENSOR) || (THRESHOLD < RSENSOR)) // je cara ?
{
STOP;
break;
};
if (CIKCAK < n++) // Jedeme uz dost dlouho cik? Pak jed cak.
{
n=0;
STOP;
switch(movement) // zmenime smer zataceni
{
case L:
FL; BR; // doprava
movement=R; // poznamenej kam jedem
line=L; // kdyz prejedem, tak bude cara vlevo
break;
case R:
FR; BL; // doleva
movement=L; // poznamenej kam jedem
line=R; // kdyz prejedem, tak bude cara vpravo
break;
}
}
}
}
 
task main()
{
PlaySound (SOUND_DOUBLE_BEEP);
Wait(100); // 1s
SetSensor(RSENSOR,SENSOR_LIGHT); // senzor na caru modry pravy
SetSensor(LSENSOR,SENSOR_LIGHT); // senzor na caru modry levy
SetSensor(BUMPER,SENSOR_TOUCH); // sensor na prekazku
 
SetPower (ML,OUT_FULL); // vykon motoru
SetPower (MR,OUT_FULL);
movement=R;
line=S;
dira=0;
cikcak(); // toc se, abys nasel caru
FL; FR; // vpred
 
// Sledovani cary
while(true)
{
if(BUMPER) // je cihla?
{
PlaySound(SOUND_DOWN);
objizdka(); // objed cihlu
}
 
if (THRESHOLD < RSENSOR) // Cara pod pravym senzorem
{
dira=0; // nuluj pocitadlo diry, protoze jsme videli caru
line=R; // zaznamenej, kdes videl caru
FL; FR; // rovne
continue;
}
 
if (THRESHOLD < LSENSOR) // Cara pod levym senzorem
{
dira=0; // nuluj pocitadlo diry, protoze jsme videli caru
line=L; // zaznamenej, kdes videl caru
FL; FR; // rovne
continue;
}
 
// oba senzory mimo caru
 
if (0==dira) // v prvnim cyklu po ztrate cary zacneme zahybat
// v ostatnich cyklech nedelame nic (pro urychleni snimani)
{
switch(line) // kdyz nevidis caru, tak jed tam, kdes ji videl naposled
{
case L:
Off(ML); // doleva
movement=L; // poznamenej kam jedes
break;
case R:
Off(MR); // doprava
movement=R; // poznamenej kam jedes
break;
};
dira++; // zvets pocitadlo diry, aby to pristi cyklus tudy neslo
continue; // co nejrychleji se vrat na snimani cary
}
 
if (MEZERA < dira++) // nejedeme uz moc dlouho bez cary?
{
dira=0;
PlaySound (SOUND_FAST_UP);
switch(movement) // kam se jelo ?
{
case L:
Off(ML); // couvej doprava
BR;
Wait(COUVEJ+10);
movement=R;
break;
case R:
BL; // couvej doleva
Off(MR);
Wait(COUVEJ);
movement=L;
break;
}
PlaySound(SOUND_CLICK);
STOP; // konec couvani
FL; FR; // rovne pres diru
Wait(PRES_DIRU);
STOP;
cikcak(); // najdi caru
FR; FL; // vpred
} // dira
} // while(true)
}
 
void objizdka()
{
BL; BR; // zacouvej
Wait(15);
STOP;
 
cikcak(); // vyrovnej se na caru
cikcak(); // radeji 3x, aby se vyrovnaly setrvacne sily
cikcak();
 
BL; FR; Wait(22); // vlevo
STOP;
FL; FR; Wait(65); // rovne
STOP;
FL; BR; Wait(22); // vpravo
STOP;
FL; FR; Wait(77); // rovne
STOP;
FL; BR; Wait(21); // vpravo
STOP;
FL; FR;
Wait(20); // kousek rovne
// rovne, dokud nenarazis na caru
while(THRESHOLD > RSENSOR); // pravej senzor, protoze cihla je vpravo
STOP;
BL; FR; // toc se doleva, dokud nenarazis na caru
while(THRESHOLD > LSENSOR); // levej senzor, protoze cara je urcite vlevo
STOP;
line=R; // caru predpokladame vpravo, kdybysme ji prejeli
dira=0;
FL; FR; // vpred
}
/roboti/istrobot/callis/Callis_NQC.PDF
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svn:mime-type = application/octet-stream
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\ No newline at end of property
/roboti/istrobot/callis/Callis_R.bak
0,0 → 1,203
// Soutezni robot pro Istrobot 2004
// Objeti cihly vpravo
// $Archive: /Lego/Callis/Callis_R.nqc $
// $Date: 27.04.04 20:52 $
// $Revision: 3 $
 
#define THRESHOLD 50 // rozhodovaci uroven mezi cernou a bilou
#define ML OUT_A // Motory
#define MR OUT_C
#define FL OnFwd(ML) // Vpred
#define FR OnRev(MR)
#define BL OnRev(ML) // Vzad
#define BR OnFwd(MR)
#define RSENSOR SENSOR_3 // Senzory na caru
#define LSENSOR SENSOR_1
#define BUMPER SENSOR_2 // Senzor na cihlu
#define MEZERA 38 // jak se muze jet dlouho bez cary
#define COUVEJ 70 // kolik se ma couvat po detekci diry
#define CIKCAK 40 // kolik se ma jet cik/cak
#define PRES_DIRU 35 // jak predpokladame velkou diru
 
#define L 0 // left
#define R 1 // right
#define S 2 // straight
 
#define STOP Off(ML + MR); Wait(10); // zastav 8
 
int movement; // smer minuleho pohybu
int line; // na ktere strane byla detekovana cara
int dira; // pocitadlo pro nalezeni preruseni cary
int n; // pomocna promena pro cyklus FOR
 
 
void cikcak() // Hledani cary
{
n=CIKCAK/2; // poprve hned zatoc opacne, nez se jelo pred detekci diry
switch(movement) // zmenime smer zataceni
{
case L:
FL; BR; // doprava
movement=R; // poznamenej kam jedem
line=L; // kdyz prejedem, tak bude cara vlevo
break;
case R:
FR; BL; // doleva
movement=L; // poznamenej kam jedem
line=R; // kdyz prejedem, tak bude cara vpravo
break;
}
 
while(true) // jed cik-cak, dokud nenajdes caru
{
if ((THRESHOLD < RSENSOR) || (THRESHOLD < RSENSOR)) // je cara ?
{
STOP;
break;
};
if (CIKCAK < n++) // Jedeme uz dost dlouho cik? Pak jed cak.
{
n=0;
STOP;
switch(movement) // zmenime smer zataceni
{
case L:
FL; BR; // doprava
movement=R; // poznamenej kam jedem
line=L; // kdyz prejedem, tak bude cara vlevo
break;
case R:
FR; BL; // doleva
movement=L; // poznamenej kam jedem
line=R; // kdyz prejedem, tak bude cara vpravo
break;
}
}
}
}
 
task main()
{
PlaySound (SOUND_DOUBLE_BEEP);
Wait(100); // 1s
SetSensor(RSENSOR,SENSOR_LIGHT); // senzor na caru modry pravy
SetSensor(LSENSOR,SENSOR_LIGHT); // senzor na caru modry levy
SetSensor(BUMPER,SENSOR_TOUCH); // sensor na prekazku
 
SetPower (ML,OUT_FULL); // vykon motoru
SetPower (MR,OUT_FULL);
movement=R;
line=S;
dira=0;
cikcak(); // toc se, abys nasel caru
FL; FR; // vpred
 
// Sledovani cary
while(true)
{
if(BUMPER) // je cihla?
{
PlaySound(SOUND_DOWN);
objizdka(); // objed cihlu
}
 
if (THRESHOLD < RSENSOR) // Cara pod pravym senzorem
{
dira=0; // nuluj pocitadlo diry, protoze jsme videli caru
line=R; // zaznamenej, kdes videl caru
FL; FR; // rovne
continue;
}
 
if (THRESHOLD < LSENSOR) // Cara pod levym senzorem
{
dira=0; // nuluj pocitadlo diry, protoze jsme videli caru
line=L; // zaznamenej, kdes videl caru
FL; FR; // rovne
continue;
}
 
// oba senzory mimo caru
 
if (0==dira) // v prvnim cyklu po ztrate cary zacneme zahybat
// v ostatnich cyklech nedelame nic (pro urychleni snimani)
{
switch(line) // kdyz nevidis caru, tak jed tam, kdes ji videl naposled
{
case L:
Off(ML); // doleva
movement=L; // poznamenej kam jedes
break;
case R:
Off(MR); // doprava
movement=R; // poznamenej kam jedes
break;
};
dira++; // zvets pocitadlo diry, aby to pristi cyklus tudy neslo
continue; // co nejrychleji se vrat na snimani cary
}
 
if (MEZERA < dira++) // nejedeme uz moc dlouho bez cary?
{
dira=0;
PlaySound (SOUND_FAST_UP);
switch(movement) // kam se jelo ?
{
case L:
Off(ML); // couvej doprava
BR;
Wait(COUVEJ+10);
movement=R;
break;
case R:
BL; // couvej doleva
Off(MR);
Wait(COUVEJ);
movement=L;
break;
}
PlaySound(SOUND_CLICK);
STOP; // konec couvani
FL; FR; // rovne pres diru
Wait(PRES_DIRU);
STOP;
cikcak(); // najdi caru
FR; FL; // vpred
} // dira
} // while(true)
}
 
void objizdka()
{
BL; BR; // zacouvej
Wait(15);
STOP;
 
cikcak(); // vyrovnej se na caru
cikcak(); // radeji 3x, aby se vyrovnaly setrvacne sily
cikcak();
FL; BR; Wait(23); // vpravo
STOP;
FL; FR; Wait(65); // rovne
STOP;
BL; FR; Wait(23); // vlevo
STOP;
FL; FR; Wait(75); // rovne
STOP;
BL; FR; Wait(23); // vlevo
STOP;
FL; FR;
Wait(20); // kousek rovne
// rovne, dokud nenarazis na caru
while(THRESHOLD > LSENSOR); // levej senzor, protoze cihla je levo
STOP;
FL; BR; // toc se doprava, dokud nenarazis na caru
while(THRESHOLD > RSENSOR); // pravej senzor, protoze cara je urcite vpravo
STOP;
line=L; // caru predpokladame vlevo, kdybysme ji prejeli
dira=0;
FL; FR; // vpred
}
/roboti/istrobot/callis/Callis_R.nqc
0,0 → 1,203
// Soutezni robot pro Istrobot 2004
// Objeti cihly vpravo
// $Archive: /Lego/Callis/Callis_R.nqc $
// $Date: 27.04.04 20:52 $
// $Revision: 3 $
 
#define THRESHOLD 50 // rozhodovaci uroven mezi cernou a bilou
#define ML OUT_A // Motory
#define MR OUT_C
#define FL OnFwd(ML) // Vpred
#define FR OnRev(MR)
#define BL OnRev(ML) // Vzad
#define BR OnFwd(MR)
#define RSENSOR SENSOR_3 // Senzory na caru
#define LSENSOR SENSOR_1
#define BUMPER SENSOR_2 // Senzor na cihlu
#define MEZERA 38 // jak se muze jet dlouho bez cary
#define COUVEJ 70 // kolik se ma couvat po detekci diry
#define CIKCAK 40 // kolik se ma jet cik/cak
#define PRES_DIRU 35 // jak predpokladame velkou diru
 
#define L 0 // left
#define R 1 // right
#define S 2 // straight
 
#define STOP Off(ML + MR); Wait(10); // zastav 8
 
int movement; // smer minuleho pohybu
int line; // na ktere strane byla detekovana cara
int dira; // pocitadlo pro nalezeni preruseni cary
int n; // pomocna promena pro cyklus FOR
 
 
void cikcak() // Hledani cary
{
n=CIKCAK/2; // poprve hned zatoc opacne, nez se jelo pred detekci diry
switch(movement) // zmenime smer zataceni
{
case L:
FL; BR; // doprava
movement=R; // poznamenej kam jedem
line=L; // kdyz prejedem, tak bude cara vlevo
break;
case R:
FR; BL; // doleva
movement=L; // poznamenej kam jedem
line=R; // kdyz prejedem, tak bude cara vpravo
break;
}
 
while(true) // jed cik-cak, dokud nenajdes caru
{
if ((THRESHOLD < RSENSOR) || (THRESHOLD < RSENSOR)) // je cara ?
{
STOP;
break;
};
if (CIKCAK < n++) // Jedeme uz dost dlouho cik? Pak jed cak.
{
n=0;
STOP;
switch(movement) // zmenime smer zataceni
{
case L:
FL; BR; // doprava
movement=R; // poznamenej kam jedem
line=L; // kdyz prejedem, tak bude cara vlevo
break;
case R:
FR; BL; // doleva
movement=L; // poznamenej kam jedem
line=R; // kdyz prejedem, tak bude cara vpravo
break;
}
}
}
}
 
task main()
{
PlaySound (SOUND_DOUBLE_BEEP);
Wait(100); // 1s
SetSensor(RSENSOR,SENSOR_LIGHT); // senzor na caru modry pravy
SetSensor(LSENSOR,SENSOR_LIGHT); // senzor na caru modry levy
SetSensor(BUMPER,SENSOR_TOUCH); // sensor na prekazku
 
SetPower (ML,OUT_FULL); // vykon motoru
SetPower (MR,OUT_FULL);
movement=R;
line=S;
dira=0;
cikcak(); // toc se, abys nasel caru
FL; FR; // vpred
 
// Sledovani cary
while(true)
{
if(BUMPER) // je cihla?
{
PlaySound(SOUND_DOWN);
objizdka(); // objed cihlu
}
 
if (THRESHOLD < RSENSOR) // Cara pod pravym senzorem
{
dira=0; // nuluj pocitadlo diry, protoze jsme videli caru
line=R; // zaznamenej, kdes videl caru
FL; FR; // rovne
continue;
}
 
if (THRESHOLD < LSENSOR) // Cara pod levym senzorem
{
dira=0; // nuluj pocitadlo diry, protoze jsme videli caru
line=L; // zaznamenej, kdes videl caru
FL; FR; // rovne
continue;
}
 
// oba senzory mimo caru
 
if (0==dira) // v prvnim cyklu po ztrate cary zacneme zahybat
// v ostatnich cyklech nedelame nic (pro urychleni snimani)
{
switch(line) // kdyz nevidis caru, tak jed tam, kdes ji videl naposled
{
case L:
Off(ML); // doleva
movement=L; // poznamenej kam jedes
break;
case R:
Off(MR); // doprava
movement=R; // poznamenej kam jedes
break;
};
dira++; // zvets pocitadlo diry, aby to pristi cyklus tudy neslo
continue; // co nejrychleji se vrat na snimani cary
}
 
if (MEZERA < dira++) // nejedeme uz moc dlouho bez cary?
{
dira=0;
PlaySound (SOUND_FAST_UP);
switch(movement) // kam se jelo ?
{
case L:
Off(ML); // couvej doprava
BR;
Wait(COUVEJ+10);
movement=R;
break;
case R:
BL; // couvej doleva
Off(MR);
Wait(COUVEJ);
movement=L;
break;
}
PlaySound(SOUND_CLICK);
STOP; // konec couvani
FL; FR; // rovne pres diru
Wait(PRES_DIRU);
STOP;
cikcak(); // najdi caru
FR; FL; // vpred
} // dira
} // while(true)
}
 
void objizdka()
{
BL; BR; // zacouvej
Wait(15);
STOP;
 
cikcak(); // vyrovnej se na caru
cikcak(); // radeji 3x, aby se vyrovnaly setrvacne sily
cikcak();
FL; BR; Wait(23); // vpravo
STOP;
FL; FR; Wait(65); // rovne
STOP;
BL; FR; Wait(23); // vlevo
STOP;
FL; FR; Wait(75); // rovne
STOP;
BL; FR; Wait(23); // vlevo
STOP;
FL; FR;
Wait(20); // kousek rovne
// rovne, dokud nenarazis na caru
while(THRESHOLD > LSENSOR); // levej senzor, protoze cihla je vlevo
STOP;
FL; BR; // toc se doprava, dokud nenarazis na caru
while(THRESHOLD > RSENSOR); // pravej senzor, protoze cara je urcite vpravo
STOP;
line=L; // caru predpokladame vlevo, kdybysme ji prejeli
dira=0;
FL; FR; // vpred
}
/roboti/istrobot/callis/Callis_R_rovne.bak
0,0 → 1,203
// Soutezni robot pro Istrobot 2004
// Objeti cihly vpravo
// $Archive: /Lego/Callis/Callis_R.nqc $
// $Date: 27.04.04 20:52 $
// $Revision: 3 $
 
#define THRESHOLD 50 // rozhodovaci uroven mezi cernou a bilou
#define ML OUT_A // Motory
#define MR OUT_C
#define FL OnFwd(ML) // Vpred
#define FR OnRev(MR)
#define BL OnRev(ML) // Vzad
#define BR OnFwd(MR)
#define RSENSOR SENSOR_3 // Senzory na caru
#define LSENSOR SENSOR_1
#define BUMPER SENSOR_2 // Senzor na cihlu
#define MEZERA 38 // jak se muze jet dlouho bez cary
#define COUVEJ 70 // kolik se ma couvat po detekci diry
#define CIKCAK 40 // kolik se ma jet cik/cak
#define PRES_DIRU 35 // jak predpokladame velkou diru
 
#define L 0 // left
#define R 1 // right
#define S 2 // straight
 
#define STOP Off(ML + MR); Wait(10); // zastav 8
 
int movement; // smer minuleho pohybu
int line; // na ktere strane byla detekovana cara
int dira; // pocitadlo pro nalezeni preruseni cary
int n; // pomocna promena pro cyklus FOR
 
 
void cikcak() // Hledani cary
{
n=CIKCAK/2; // poprve hned zatoc opacne, nez se jelo pred detekci diry
switch(movement) // zmenime smer zataceni
{
case L:
FL; BR; // doprava
movement=R; // poznamenej kam jedem
line=L; // kdyz prejedem, tak bude cara vlevo
break;
case R:
FR; BL; // doleva
movement=L; // poznamenej kam jedem
line=R; // kdyz prejedem, tak bude cara vpravo
break;
}
 
while(true) // jed cik-cak, dokud nenajdes caru
{
if ((THRESHOLD < RSENSOR) || (THRESHOLD < RSENSOR)) // je cara ?
{
STOP;
break;
};
if (CIKCAK < n++) // Jedeme uz dost dlouho cik? Pak jed cak.
{
n=0;
STOP;
switch(movement) // zmenime smer zataceni
{
case L:
FL; BR; // doprava
movement=R; // poznamenej kam jedem
line=L; // kdyz prejedem, tak bude cara vlevo
break;
case R:
FR; BL; // doleva
movement=L; // poznamenej kam jedem
line=R; // kdyz prejedem, tak bude cara vpravo
break;
}
}
}
}
 
task main()
{
PlaySound (SOUND_DOUBLE_BEEP);
Wait(100); // 1s
SetSensor(RSENSOR,SENSOR_LIGHT); // senzor na caru modry pravy
SetSensor(LSENSOR,SENSOR_LIGHT); // senzor na caru modry levy
SetSensor(BUMPER,SENSOR_TOUCH); // sensor na prekazku
 
SetPower (ML,OUT_FULL); // vykon motoru
SetPower (MR,OUT_FULL);
movement=R;
line=S;
dira=0;
cikcak(); // toc se, abys nasel caru
FL; FR; // vpred
 
// Sledovani cary
while(true)
{
if(BUMPER) // je cihla?
{
PlaySound(SOUND_DOWN);
objizdka(); // objed cihlu
}
 
if (THRESHOLD < RSENSOR) // Cara pod pravym senzorem
{
dira=0; // nuluj pocitadlo diry, protoze jsme videli caru
line=R; // zaznamenej, kdes videl caru
FL; FR; // rovne
continue;
}
 
if (THRESHOLD < LSENSOR) // Cara pod levym senzorem
{
dira=0; // nuluj pocitadlo diry, protoze jsme videli caru
line=L; // zaznamenej, kdes videl caru
FL; FR; // rovne
continue;
}
 
// oba senzory mimo caru
 
if (0==dira) // v prvnim cyklu po ztrate cary zacneme zahybat
// v ostatnich cyklech nedelame nic (pro urychleni snimani)
{
switch(line) // kdyz nevidis caru, tak jed tam, kdes ji videl naposled
{
case L:
Off(ML); // doleva
movement=L; // poznamenej kam jedes
break;
case R:
Off(MR); // doprava
movement=R; // poznamenej kam jedes
break;
};
dira++; // zvets pocitadlo diry, aby to pristi cyklus tudy neslo
continue; // co nejrychleji se vrat na snimani cary
}
 
if (MEZERA < dira++) // nejedeme uz moc dlouho bez cary?
{
dira=0;
PlaySound (SOUND_FAST_UP);
switch(movement) // kam se jelo ?
{
case L:
Off(ML); // couvej doprava
BR;
Wait(COUVEJ+10);
movement=R;
break;
case R:
BL; // couvej doleva
Off(MR);
Wait(COUVEJ);
movement=L;
break;
}
PlaySound(SOUND_CLICK);
STOP; // konec couvani
FL; FR; // rovne pres diru
Wait(PRES_DIRU);
STOP;
cikcak(); // najdi caru
FR; FL; // vpred
} // dira
} // while(true)
}
 
void objizdka()
{
BL; BR; // zacouvej
Wait(15);
STOP;
 
cikcak(); // vyrovnej se na caru
cikcak(); // radeji 3x, aby se vyrovnaly setrvacne sily
cikcak();
FL; BR; Wait(23); // vpravo
STOP;
FL; FR; Wait(65); // rovne
STOP;
BL; FR; Wait(23); // vlevo
STOP;
FL; FR; Wait(75); // rovne
// STOP;
// BL; FR; Wait(23); // vlevo
// STOP;
// FL; FR;
// Wait(20); // kousek rovne
// rovne, dokud nenarazis na caru
while(THRESHOLD > LSENSOR); // levej senzor, protoze cihla je levo
STOP;
FL; BR; // toc se doprava, dokud nenarazis na caru
while(THRESHOLD > RSENSOR); // pravej senzor, protoze cara je urcite vpravo
STOP;
line=L; // caru predpokladame vlevo, kdybysme ji prejeli
dira=0;
FL; FR; // vpred
}
/roboti/istrobot/callis/Callis_R_rovne.nqc
0,0 → 1,203
// Soutezni robot pro Istrobot 2004
// Objeti cihly vpravo
// $Archive: /Lego/Callis/Callis_R.nqc $
// $Date: 27.04.04 20:52 $
// $Revision: 3 $
 
#define THRESHOLD 50 // rozhodovaci uroven mezi cernou a bilou
#define ML OUT_A // Motory
#define MR OUT_C
#define FL OnFwd(ML) // Vpred
#define FR OnRev(MR)
#define BL OnRev(ML) // Vzad
#define BR OnFwd(MR)
#define RSENSOR SENSOR_3 // Senzory na caru
#define LSENSOR SENSOR_1
#define BUMPER SENSOR_2 // Senzor na cihlu
#define MEZERA 38 // jak se muze jet dlouho bez cary
#define COUVEJ 70 // kolik se ma couvat po detekci diry
#define CIKCAK 40 // kolik se ma jet cik/cak
#define PRES_DIRU 35 // jak predpokladame velkou diru
 
#define L 0 // left
#define R 1 // right
#define S 2 // straight
 
#define STOP Off(ML + MR); Wait(10); // zastav 8
 
int movement; // smer minuleho pohybu
int line; // na ktere strane byla detekovana cara
int dira; // pocitadlo pro nalezeni preruseni cary
int n; // pomocna promena pro cyklus FOR
 
 
void cikcak() // Hledani cary
{
n=CIKCAK/2; // poprve hned zatoc opacne, nez se jelo pred detekci diry
switch(movement) // zmenime smer zataceni
{
case L:
FL; BR; // doprava
movement=R; // poznamenej kam jedem
line=L; // kdyz prejedem, tak bude cara vlevo
break;
case R:
FR; BL; // doleva
movement=L; // poznamenej kam jedem
line=R; // kdyz prejedem, tak bude cara vpravo
break;
}
 
while(true) // jed cik-cak, dokud nenajdes caru
{
if ((THRESHOLD < RSENSOR) || (THRESHOLD < RSENSOR)) // je cara ?
{
STOP;
break;
};
if (CIKCAK < n++) // Jedeme uz dost dlouho cik? Pak jed cak.
{
n=0;
STOP;
switch(movement) // zmenime smer zataceni
{
case L:
FL; BR; // doprava
movement=R; // poznamenej kam jedem
line=L; // kdyz prejedem, tak bude cara vlevo
break;
case R:
FR; BL; // doleva
movement=L; // poznamenej kam jedem
line=R; // kdyz prejedem, tak bude cara vpravo
break;
}
}
}
}
 
task main()
{
PlaySound (SOUND_DOUBLE_BEEP);
Wait(100); // 1s
SetSensor(RSENSOR,SENSOR_LIGHT); // senzor na caru modry pravy
SetSensor(LSENSOR,SENSOR_LIGHT); // senzor na caru modry levy
SetSensor(BUMPER,SENSOR_TOUCH); // sensor na prekazku
 
SetPower (ML,OUT_FULL); // vykon motoru
SetPower (MR,OUT_FULL);
movement=R;
line=S;
dira=0;
cikcak(); // toc se, abys nasel caru
FL; FR; // vpred
 
// Sledovani cary
while(true)
{
if(BUMPER) // je cihla?
{
PlaySound(SOUND_DOWN);
objizdka(); // objed cihlu
}
 
if (THRESHOLD < RSENSOR) // Cara pod pravym senzorem
{
dira=0; // nuluj pocitadlo diry, protoze jsme videli caru
line=R; // zaznamenej, kdes videl caru
FL; FR; // rovne
continue;
}
 
if (THRESHOLD < LSENSOR) // Cara pod levym senzorem
{
dira=0; // nuluj pocitadlo diry, protoze jsme videli caru
line=L; // zaznamenej, kdes videl caru
FL; FR; // rovne
continue;
}
 
// oba senzory mimo caru
 
if (0==dira) // v prvnim cyklu po ztrate cary zacneme zahybat
// v ostatnich cyklech nedelame nic (pro urychleni snimani)
{
switch(line) // kdyz nevidis caru, tak jed tam, kdes ji videl naposled
{
case L:
Off(ML); // doleva
movement=L; // poznamenej kam jedes
break;
case R:
Off(MR); // doprava
movement=R; // poznamenej kam jedes
break;
};
dira++; // zvets pocitadlo diry, aby to pristi cyklus tudy neslo
continue; // co nejrychleji se vrat na snimani cary
}
 
if (MEZERA < dira++) // nejedeme uz moc dlouho bez cary?
{
dira=0;
PlaySound (SOUND_FAST_UP);
switch(movement) // kam se jelo ?
{
case L:
Off(ML); // couvej doprava
BR;
Wait(COUVEJ+10);
movement=R;
break;
case R:
BL; // couvej doleva
Off(MR);
Wait(COUVEJ);
movement=L;
break;
}
PlaySound(SOUND_CLICK);
STOP; // konec couvani
FL; FR; // rovne pres diru
Wait(PRES_DIRU);
STOP;
cikcak(); // najdi caru
FR; FL; // vpred
} // dira
} // while(true)
}
 
void objizdka()
{
BL; BR; // zacouvej
Wait(15);
STOP;
 
cikcak(); // vyrovnej se na caru
cikcak(); // radeji 3x, aby se vyrovnaly setrvacne sily
cikcak();
FL; BR; Wait(23); // vpravo
STOP;
FL; FR; Wait(60); // rovne
STOP;
BL; FR; Wait(23); // vlevo
STOP;
FL; FR; Wait(75); // rovne
// STOP;
// BL; FR; Wait(23); // vlevo
// STOP;
// FL; FR;
// Wait(20); // kousek rovne
// rovne, dokud nenarazis na caru
while(THRESHOLD > LSENSOR); // levej senzor, protoze cihla je levo
STOP;
FL; BR; // toc se doprava, dokud nenarazis na caru
while(THRESHOLD > RSENSOR); // pravej senzor, protoze cara je urcite vpravo
STOP;
line=L; // caru predpokladame vlevo, kdybysme ji prejeli
dira=0;
FL; FR; // vpred
}
/roboti/istrobot/callis/Callis_log.bak
0,0 → 1,173
// Soutezni robot pro Istrobot 2004
// $Archive: /Lego/Callis/Callis_log.nqc $
// $Date: 9.05.04 6:34 $
// $Revision: 1 $
 
#define THRESHOLD 50 // rozhodovaci uroven mezi cernou a bilou
#define ML OUT_A // Motory
#define MR OUT_C
#define FL OnFwd(ML) // Vpred
#define FR OnRev(MR)
#define BL OnRev(ML) // Vzad
#define BR OnFwd(MR)
#define RSENSOR SENSOR_3 // Senzory na caru
#define LSENSOR SENSOR_1
#define BUMPER SENSOR_2 // Senzor na cihlu
#define MEZERA 38 // jak se muze jet dlouho bez cary
#define COUVEJ 70 // kolik se ma couvat po detekci diry
#define CIKCAK 40 // kolik se ma jet cik/cak
#define PRES_DIRU 35 // jak predpokladame velkou diru
 
#define L 0 // left
#define R 1 // right
#define S 2 // straight
 
#define STOP Off(ML + MR); Wait(10); // zastav 8
 
int movement; // smer minuleho pohybu
int line; // na ktere strane byla detekovana cara
int dira; // pocitadlo pro nalezeni preruseni cary
int n; // pomocna promena pro cyklus FOR
 
task main()
{
PlaySound (SOUND_DOUBLE_BEEP);
Wait(100); // 1s
SetSensor(RSENSOR,SENSOR_LIGHT); // senzor na caru modry pravy
SetSensor(LSENSOR,SENSOR_LIGHT); // senzor na caru modry levy
SetSensor(BUMPER,SENSOR_TOUCH); // sensor na prekazku
SetEvent(L, LSENSOR, EVENT_TYPE_HIGH);
SetEvent(R, RSENSOR, EVENT_TYPE_HIGH);
 
SetPower (ML,OUT_HALF); // vykon motoru
SetPower (MR,OUT_HALF);
movement=R;
line=S;
dira=0;
cikcak(); // toc se, abys nasel caru
FL; FR; // vpred
CreateDatalog(1000);
 
// Sledovani cary
while(true)
{
 
monitor( EVENT_MASK(L) | EVENT_MASK(R) )
{
FL; FR; // rovne
}
catch (EVENT_MASK(L))
{
line=L; // zaznamenej, kdes videl caru
n=-dira;
AddToDatalog(n);
dira=0; // nuluj pocitadlo diry, protoze jsme videli caru
}
catch (EVENT_MASK(R))
{
line=R; // zaznamenej, kdes videl caru
n=dira;
AddToDatalog(n);
dira=0; // nuluj pocitadlo diry, protoze jsme videli caru
}
 
// oba senzory mimo caru
 
if (0==dira) // v prvnim cyklu po ztrate cary zacneme zahybat
// v ostatnich cyklech nedelame nic (pro urychleni snimani)
{
switch(line) // kdyz nevidis caru, tak jed tam, kdes ji videl naposled
{
case L:
Off(ML); // doleva
movement=L; // poznamenej kam jedes
break;
case R:
Off(MR); // doprava
movement=R; // poznamenej kam jedes
break;
};
dira++; // zvets pocitadlo diry, aby to pristi cyklus tudy neslo
continue; // co nejrychleji se vrat na snimani cary
}
 
if (MEZERA < dira++) // nejedeme uz moc dlouho bez cary?
{
dira=0;
PlaySound (SOUND_FAST_UP);
switch(movement) // kam se jelo ?
{
case L:
Off(ML); // couvej doprava
BR;
Wait(COUVEJ+10);
movement=R;
break;
case R:
BL; // couvej doleva
Off(MR);
Wait(COUVEJ);
movement=L;
break;
}
PlaySound(SOUND_CLICK);
STOP; // konec couvani
FL; FR; // rovne pres diru
Wait(PRES_DIRU);
STOP;
cikcak(); // najdi caru
FR; FL; // vpred
} // dira
} // while(true)
}
 
 
void cikcak() // Hledani cary
{
n=CIKCAK/2; // poprve hned zatoc opacne, nez se jelo pred detekci diry
switch(movement) // zmenime smer zataceni
{
case L:
FL; BR; // doprava
movement=R; // poznamenej kam jedem
line=L; // kdyz prejedem, tak bude cara vlevo
break;
case R:
FR; BL; // doleva
movement=L; // poznamenej kam jedem
line=R; // kdyz prejedem, tak bude cara vpravo
break;
}
 
while(true) // jed cik-cak, dokud nenajdes caru
{
if ((THRESHOLD < RSENSOR) || (THRESHOLD < RSENSOR)) // je cara ?
{
STOP;
break;
};
if (CIKCAK < n++) // Jedeme uz dost dlouho cik? Pak jed cak.
{
n=0;
STOP;
switch(movement) // zmenime smer zataceni
{
case L:
FL; BR; // doprava
movement=R; // poznamenej kam jedem
line=L; // kdyz prejedem, tak bude cara vlevo
break;
case R:
FR; BL; // doleva
movement=L; // poznamenej kam jedem
line=R; // kdyz prejedem, tak bude cara vpravo
break;
}
}
}
}
 
 
/roboti/istrobot/callis/Callis_log.nqc
0,0 → 1,184
// Soutezni robot pro Istrobot 2004
// $Archive: /Lego/Callis/Callis_log.nqc $
// $Date: 9.05.04 6:34 $
// $Revision: 1 $
 
#define THRESHOLD 50 // rozhodovaci uroven mezi cernou a bilou
#define ML OUT_A // Motory
#define MR OUT_C
#define FL OnFwd(ML) // Vpred
#define FR OnRev(MR)
#define BL OnRev(ML) // Vzad
#define BR OnFwd(MR)
#define RSENSOR SENSOR_3 // Senzory na caru
#define LSENSOR SENSOR_1
#define BUMPER SENSOR_2 // Senzor na cihlu
#define MEZERA 38 // jak se muze jet dlouho bez cary
#define COUVEJ 70 // kolik se ma couvat po detekci diry
#define CIKCAK 40 // kolik se ma jet cik/cak
#define PRES_DIRU 35 // jak predpokladame velkou diru
 
#define L 0 // left
#define R 1 // right
#define S 2 // straight
 
#define STOP Off(ML + MR); Wait(10); // zastav 8
 
int movement; // smer minuleho pohybu
int line; // na ktere strane byla detekovana cara
int dira; // pocitadlo pro nalezeni preruseni cary
int n; // pomocna promena pro cyklus FOR
 
task main()
{
PlaySound (SOUND_DOUBLE_BEEP);
Wait(100); // 1s
SetSensor(RSENSOR,SENSOR_LIGHT); // senzor na caru modry pravy
SetSensor(LSENSOR,SENSOR_LIGHT); // senzor na caru modry levy
SetSensor(BUMPER,SENSOR_TOUCH); // sensor na prekazku
SetEvent(L, LSENSOR, EVENT_TYPE_PRESSED);
SetEvent(R, RSENSOR, EVENT_TYPE_PRESSED);
 
SetPower (ML,OUT_HALF); // vykon motoru
SetPower (MR,OUT_HALF);
movement=R;
line=S;
dira=0;
// cikcak(); // toc se, abys nasel caru
//!!! FL; FR; // vpred
CreateDatalog(1000);
 
// Sledovani cary
while(true)
{
 
monitor( EVENT_MASK(L) | EVENT_MASK(R) )
{
//!!! FL; FR; // rovne
Wait(1);
}
catch (EVENT_MASK(L))
{
SetUserDisplay(2, 1);
PlaySound(SOUND_CLICK);
Wait(50);
line=L; // zaznamenej, kdes videl caru
n=-dira;
// AddToDatalog(n);
dira=0; // nuluj pocitadlo diry, protoze jsme videli caru
}
catch (EVENT_MASK(R))
{
SetUserDisplay(3, 1);
PlaySound(SOUND_LOW_BEEP);
Wait(50);
line=R; // zaznamenej, kdes videl caru
n=dira;
// AddToDatalog(n);
dira=0; // nuluj pocitadlo diry, protoze jsme videli caru
}
SetUserDisplay(1, 1);
Wait(50);
 
/*
// oba senzory mimo caru
 
if (0==dira) // v prvnim cyklu po ztrate cary zacneme zahybat
// v ostatnich cyklech nedelame nic (pro urychleni snimani)
{
switch(line) // kdyz nevidis caru, tak jed tam, kdes ji videl naposled
{
case L:
Off(ML); // doleva
movement=L; // poznamenej kam jedes
break;
case R:
Off(MR); // doprava
movement=R; // poznamenej kam jedes
break;
};
dira++; // zvets pocitadlo diry, aby to pristi cyklus tudy neslo
continue; // co nejrychleji se vrat na snimani cary
}
 
if (MEZERA < dira++) // nejedeme uz moc dlouho bez cary?
{
dira=0;
PlaySound (SOUND_FAST_UP);
switch(movement) // kam se jelo ?
{
case L:
Off(ML); // couvej doprava
BR;
Wait(COUVEJ+10);
movement=R;
break;
case R:
BL; // couvej doleva
Off(MR);
Wait(COUVEJ);
movement=L;
break;
}
PlaySound(SOUND_CLICK);
STOP; // konec couvani
FL; FR; // rovne pres diru
Wait(PRES_DIRU);
STOP;
cikcak(); // najdi caru
FR; FL; // vpred
} // dira
*/
 
} // while(true)
}
 
 
void cikcak() // Hledani cary
{
n=CIKCAK/2; // poprve hned zatoc opacne, nez se jelo pred detekci diry
switch(movement) // zmenime smer zataceni
{
case L:
FL; BR; // doprava
movement=R; // poznamenej kam jedem
line=L; // kdyz prejedem, tak bude cara vlevo
break;
case R:
FR; BL; // doleva
movement=L; // poznamenej kam jedem
line=R; // kdyz prejedem, tak bude cara vpravo
break;
}
 
while(true) // jed cik-cak, dokud nenajdes caru
{
if ((THRESHOLD < RSENSOR) || (THRESHOLD < RSENSOR)) // je cara ?
{
STOP;
break;
};
if (CIKCAK < n++) // Jedeme uz dost dlouho cik? Pak jed cak.
{
n=0;
STOP;
switch(movement) // zmenime smer zataceni
{
case L:
FL; BR; // doprava
movement=R; // poznamenej kam jedem
line=L; // kdyz prejedem, tak bude cara vlevo
break;
case R:
FR; BL; // doleva
movement=L; // poznamenej kam jedem
line=R; // kdyz prejedem, tak bude cara vpravo
break;
}
}
}
}
 
 
/roboti/istrobot/callis/FAQ.htm
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<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0 Frameset//EN">
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<HTML><HEAD><TITLE>Slovenská verzia</TITLE>
<META http-equiv=Content-Type content="text/html; charset=iso-8859-2">
<META content="MSHTML 6.00.2800.1400" name=GENERATOR></HEAD><FRAMESET border=0
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<META content="MSHTML 6.00.2800.1400" name=GENERATOR>
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<TR>
<TD><IMG height=15 alt="" src="menus_soubory/fuga.gif" width=135
border=0></TD></TR>
<TR>
<TD><A onmouseover="window.status='';return true"
href="http://www.robotika.sk/novinky.htm" target=telo><IMG height=40
alt=Novinky src="menus_soubory/novinky.jpg" width=135 border=0></A></TD></TR>
<TR>
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alt="O nás" src="menus_soubory/onas.jpg" width=135 border=0></A></TD></TR>
<TR>
<TD><A onmouseover="window.status='';return true"
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height=40 alt=Projekty src="menus_soubory/pro.jpg" width=135
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border=0></A></TD></TR><!-- Na chvilu vymenime odkazy
<TR>
<TD><A HREF="contest/novinky.html" TARGET="telo" onMouseOver="window.status='';return true"><IMG SRC="menu_r2_c1.gif" WIDTH="135" HEIGHT="40" BORDER="0" ALT="Sutaz"></A></TD>
</TR>
-->
<TR>
<TD><A onmouseover="window.status='';return true"
href="http://www.robotika.sk/contest/index.html" target=telo><IMG
height=40 alt=Sutaz src="menus_soubory/menu_r2_c1.gif" width=135
border=0></A></TD></TR>
<TR>
<TD><A onmouseover="window.status='';return true"
href="http://www.robotika.sk/forum/messageboard.php" target=telo><IMG
height=40 alt="Diskusné fórum" src="menus_soubory/forum.jpg" width=135
border=0></A></TD></TR>
<TR>
<TD><A onmouseover="window.status='';return true"
href="http://www.robotika.sk/kontakt.htm" target=telo><IMG height=40
alt=Kontakt src="menus_soubory/kon.jpg" width=135 border=0></A></TD></TR>
<TR>
<TD><A onmouseover="window.status='';return true"
href="http://www.robotika.sk/linky.htm" target=telo><IMG height=40
alt="Zaujímavé adresy" src="menus_soubory/lin.jpg" width=135
border=0></A></TD></TR>
<TR>
<TD><IMG height=15 alt="" src="menus_soubory/fuga.jpg" width=135
border=0></TD></TR>
<TR>
<TD><A
onmouseover="inactive.src=active.src; window.status='English version';return true"
onmouseout="inactive.src='enverof.jpg'; window.status=''"
href="http://www.robotika.sk/maine.htm" target=_parent><IMG height=80
alt="" src="menus_soubory/enverof.jpg" width=135 border=0
name=inactive></A></TD></TR></TBODY></TABLE></BODY></HTML>
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/roboti/istrobot/callis/FAQ_soubory/poradna.htm
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<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0 Transitional//EN">
<!-- saved from url=(0043)http://www.robotika.sk/contest/poradna.html -->
<HTML><HEAD><TITLE>Istrobot - poradna</TITLE>
<META http-equiv=Content-Type content="text/html; charset=windows-1250"><LINK
title="Orange Style for Istrobot" href="poradna_soubory/istrobot.css"
type=text/css rel=StyleSheet>
<META content="MSHTML 6.00.2800.1400" name=GENERATOR></HEAD>
<BODY>
<P align=center>[<A
href="http://www.robotika.sk/contest/novinky.html">Novinky</A>] [<A
href="http://www.robotika.sk/contest/pravidla.html">Pravidlá</A>] [<A
href="http://www.robotika.sk/contest/roboti.html">Roboti</A>] [Poradòa] [<A
href="http://www.robotika.sk/contest/archive/index.html">Archív</A>]
<P><A name=top></P>
<H1>Poradòa</H1></A>
<P>Na tejto stránke nájdete odpovede od našich odborníkov na najèastejšie
otázky, ktoré nám v súvislosti so súažou posielate. Odpovede na technické
otázky možno nájdete aj na niektorej z mnohých robotických stránok na internete,
ktorá sa zaoberá podobnou problematikou. Tie najzaujímavejšie sme pre vás
zozbierali na samostatnej stránke <A
href="http://www.robotika.sk/contest/links.html">Odkazy</A>.
<P><B>Obsah</B>
<OL>
<LI><A
href="http://www.robotika.sk/contest/poradna.html#organizacne">Organizaèné
problémy</A>
<LI><A href="http://www.robotika.sk/contest/poradna.html#pravidla">Otázky
týkajúce sa pravidiel</A>
<LI><A href="http://www.robotika.sk/contest/poradna.html#technicke">Technické
problémy</A>
<LI><A href="http://www.robotika.sk/contest/poradna.html#hladame">H¾adáme
odpoveï</A>
<LI><A href="mailto:balogh@elf.stuba.sk">Posla otázku</A> </LI></OL>
<P>
<UL><A name=organizacne>
<H2>Organizaèné problémy</H2></A>
<LI><I>Preèo ISTROBOT?</I>
<P>Latinský názov Bratislavy je Istropolis, preto Istro + robot. Okrem toho je
to jediná takáto súaž v bývalých "East European" krajinách, takže tiež
<I>Eastrobot</I> [ístrobot].
<HR>
 
<P></P>
<LI><I>Na internete sme nasli program a je tam na stredu pisane: Prezentacia
na Cofaxe. Co to presne znamena? Velmi radi by sme tam isli, ale ako by to
bolo z ubytovanim?</I>
<P>To znamená, že generálny sponzor Datalan, by rád vo svojomo stánku na
výstave Cofax ukázal nejakých robotov. Ak máte záujem predvies sa aj tu,
dajte mi vedie a zabzpeèíme predåženie ubytovania a stravy a všetko ostatné.
Nejaký èas budte predvádza a potom sa samozrejme môžete poobzera aj po
výstave.
<P></P>
<LI><I>Robota asi nesthnem dokonèi, preto radšej neprídem.</I>
<P>Ja by som na Vašom mieste nehádzal hneï flintu do žita. Aj vlani prišiel
jeden úèastník, ktorý napokon ani neodštartoval. Podstatné je prís a skúsi.
Ak máte konštrukciu hotovú, potom neverím, že by ste nieèo nedoprogramovali.
<P>Deò pred súažou bude dráha k dispozícii na testovanie, takže ak by ste
prišli na dva dni, možno by sa ešte všelièo dalo odladi. Nemusíte vyhra, ale
aspoò to skúsi, aj keï budete posledný, svet sa nezrúti. Aspoò ale získate
skúsenosti a na budúci rok vyhráte ;-)
<P>
<HR>
 
<LI><I>Potøebuji vìdìt, co vše je hrazeno a co vše si musím hradit sám. Buïte
tak laskav a toto mi sdìlte.</I>
<P>Organizátori vám preplatia cestovné, ubytovanie a zrejme aj stravu. Jediný
problém môže by s cestovným, neviem urèite, èi ho preplatíme v Kè, alebo len
Sk.
<P>
<HR>
 
<LI><I>Môžem jedného robota prihlási do viacerých kategórií?</I>
<P>Áno, môžete.
<P>
<HR>
 
<LI><I>Budeme si môc dráhu vyskúša?</I>
<P>Áno, dráhy sú prístupné verejnosti. Nie je na nich ale súažný tvar dráhy.
Presný pravidelný termín bude uvedený neskôr, zatia¾ pod¾a dohody.
<P>Dráha bude okrem toho k dispozícii na testovanie deò pred súažou, takže ak
prídete na oba dni, možno ešte všelièo doladíte.
<P>Bratislavèania majú výhodu, môžu zaèa testova už dnes.
<P>
<HR>
 
<HR>
 
<LI><I>Da sa zabezpecit nejake lacne ubytovanie?</I>
<P>Ano, malo by byt zadarmo (ale len pre sutaziacich, nie pre vsetkych co vas
pridu povzbudzovat). Potom este mozem zohnat nejake ubytko na intraku, stoji
okolo 250,-Sk/noc, ale to bude jasnejsie az v marci.
<P>
<HR>
 
<LI><I>Mohli by ste poslat nejaku oficialnu pozvanku na skolu, aby sme sa
mohli uvolnit z vyucovania kvoli testovaniu?</I>
<P>Hm. Ak vam staci papierova verzia toho co je na www.robotika.sk tak to
mozem poslat, (napiste mi adresu kam), pripadne si sami nieco napiste, poslite
mi to a ja tam dam peciatku a take nezmysly.
<P>
<HR>
 
<LI><I>Da sa dohodnut na termine testovania?</I>
<P>Da.
<P>
<HR>
 
<LI><I>Kolko ludi si mozme doniest do publika(viete ked vyhra zavisi od sily
potlesku)?</I>
<P>Kolko chcete, kapacita miestnosti je 300 ludi ;-)
<P><A name=pravidla></P>
<H2>Otázky týkajúce sa pravidiel</H2></A>
<P></P>
<LI><I>Bude svietit priame slnecne svetlo na drahu?</I>
<P>Pravidlá takúto situáciu nevyluèujú. Ale keïže súaž sa bude kona v
posluchárni, ktorá je dos tmavá a poèítame aj s premietaním na ve¾koplošnú
obrazovku, zrejme do miestnosti ve¾a slnka neprenikne.
<P>
<HR>
 
<LI><I>Dale v popisu trati uvadite, ze se budou vyskytovat ruzne prekazky,
zajima me, jake ruzne prekazky a hlavne s jakym povrchem, jake barvy a
materialu. Dale preruseni drahy bude na jakou vzdalenost a zda druhy konec
preruseni bude v ose prvniho preruseni.</I>
<P>To už by som Vám mohol rovno nakresli súažnú dráhu ;-)
<P>Dráha však nebude príliš odlišná od minulého roèníka (na stránke je jej
obrázok). Prekážku si predstavte ako tehlu (cihlu), alebo drevený špalík.
<P>Farba a rozmery sa môžu líši, takže sa na ne nespoliehajte. O tom je práve
súaž, že neviete celkom všetko a robot sa tomu musí prispôsobi...
<P>
<HR>
 
<LI><I>Co sa povazuje za nakladny robot?</I>
<P>To posudi porota. Nie je to ktovieaka definicia, ale musi vam stacit. Ak by
sme dali napriklad cenove obmedzenie, tazko by sa dokazovalo. Toto pravidlo je
urcene hlavne pre tych, ktori mozu vyuzivat relativne neobmedzene zdroje.
Napriklad ak niekto pracuje (alebo brigaduje) v pocitacovej firme, nie je
problem "pozicat" si trebars aj priemyselnu kameru a jednodoskovy priemyselny
pocitac. Takym ludom by mali porotcovia "dohovorit" aby radsej robota
predviedli vo Volnej jazde.
<P>Aj preto je dobre, aby ste mi cim skorej zacali posielat nejake popisy,
nakresy a fotky robotov, aby sme pripadne nejasnosti vyriesili cim skorej, nie
az na sutazi.
<P>
<HR>
 
<LI><I>moze byt riadeny vstavanou 486 (teda taka 486 na kolieskach)</I>
<P>Ano, moze. Ak to nie je nahodou priemyselna verzia, pripadne DIMM PC
verzia, lebo to by asi spadalo do tej kategorie "prilis nakladny". Kde by ste
na to asi vzali?
<P>
<HR>
 
<LI><I>Co znamena pojem tehla na drahe (max rozmery, vaha, material)?</I>
<P><A
href="http://www.nr.psg.sk/prezenta/wienerberger/vyrobky.html#part9">Toto je
tehla.</A>.
<P>
<HR>
 
<LI><I>mozu byt v tunely zatacky?</I>
<P>Preco nie, dobry napad.
<P>
<HR>
 
<LI><I>ake su rozmery tunelov?</I>
<P>A co vlastne bude robit vas robot? ;-)
<P>
<HR>
 
<LI><I>Moze si robot v kategorii pathfollower pri prvom a dalsom pokuse
zapamatat doteraz prejdenu drahu (teda, ci je mozne trasu najprv prejst
pomalicky a poznacit si vsetky prekazky, a potom pri druhom pokuse len tak
preletiet)? lebo to nie je v rozpore s pravidlami na stranke</I>
<P>Ano, moze. Dokonca je to tam vyslovne uvedene.
<P>
<HR>
 
<LI><I>odrazaju prekazky na drahe ultrazvuky?</I>
<P>Ano.
<P>
<HR>
 
<LI><I>Ake su podmienky na prerusene miesto?</I>
<P>Ziadne. Akurat ze nebude prilis dlhe.
<P>
<HR>
 
<LI><I>K tej volnej jazde, naozaj vitazstvo zavisi iba od sily potlesku ?</I>
<P>Ano.
<P>
<HR>
 
<LI><I>Robot sutaziaci v kategorii volna jazda musi mat tiez maximalne rozmery
25x25x25 cm ? V ramci volnej jazdy moze byt dialkovo riadeny ?</I>
<P>Nie. Ano.
<P>
<HR>
 
<LI><I>Mozem sa viacerych rocnikov sutaze zucasnit s tym istym robotom ?</I>
<P>Ano.
<P>
<HR>
 
<LI><I>Moze robot opustit nahodou (napr. chyba senzorov) na moment drahu a
hned ju najst a pokracovat v kole, alebo bude diskvalifikovany.</I>
<P>Zrejme ano, zalezi co povie porota.
<P>
<HR>
 
<LI><I>Co vsetko na trati sa da poskodit ? Vydrzia tehlicky aj naraz maleho
"buldozera" ?</I>
<P>Zoberte niekde normalnu tehlu a skuste.
<P>
<HR>
 
<LI><I>Aka podrobna ma byt dokumentacia ?</I>
<P>Dost.
<P>
<HR>
 
<LI><I>Pred prekazkou je, alebo nie je prerusena ciara ?</I>
<P>Nie je.
<P>
<HR>
 
<LI><I>Cas medzi pokusmi mozem pouzit aj na manualne naprogramovanie prip.
upravenie uz zaznamenanej drahy (robotom) ?</I>
<P>V ziadnom pripade!
<P>
<HR>
 
<LI><I>Kedy je mozne otestovat drahu a je mozne v mieste testovania pozicanie
PC monitora ?</I>
<P>Ked sa dohodneme, najblizsi termin je uvedeny v <A
href="http://www.robotika.sk/contest/novinky.htm">Novinkach</A>. Monitor sa da
pozicat.
<P>
<HR>
 
<LI><I>Moze sa stat, ked nas robot bude napr. 24 cm siroky a pri jazde po
rovnej ciare ma mozny rozkmit 2 cm do stran, ze neprejde tunelom, resp. ze ho
poskodi a bude diskvalifikovany ? </I>
<P>Nebude az taky maly...
<P>
<HR>
 
<LI><I>Pred tunelmi bude rovna draha, alebo moze byt tunel na zakrute ?</I>
<P>Nechajte sa prekvapit.
<P>
<HR>
 
<LI><I>Kto bude v publiku ?</I>
<P>Vselikto. Koho si privediete.
<P>
<HR>
 
<LI><I>Moze byt na trati viacej robotov naraz?</I>
<P>Kde by sa tam vzali?
<P>
<HR>
 
<LI><I>Ak ano mozme im skodit?</I>
<P>Ak nahodou ano, tak mozete.
<P>
<HR>
 
<LI><I>Ake su toho roku ceny?</I>
<P>Dobre ;-)
<P>
<HR>
 
<LI><I>Jaky tvar bude mit zaèátek závodní dráhy? V pravidlech na www je cosi o
kruhu ze kter`ho robot vyjí¾dí, ale na fotkách z loòsk`ho roku je jen èára,
která prost^ zaène. Jak~ start tedy bude letos?</I>
<P>Start je vzdy rovnaky. Ten kruh tam nemoze byt namalovany plnou ciarou,
lebo robot by samozrejme chytil "stopu" a jazdil dokola. Preto je ten kruh
mysleny. V skutocnosti je vyznaceny slabou ceruzkou, takze na fotke ho nie je
vidno.
<P>
<HR>
 
<LI><I>Bude mo¾no robata postavit pcímo na èáru, nebo musí b~t "vypuÒt^n" na
bíl` ploÒe a musí si èáru najít?</I>
<P>Idealny start vyzera tak, ze ho umiestnite do toho pomysleneho kruhu,
napriklad kolmo k ciare, on si ju najde a pusti sa po nej. Ale porota vlani
nemala namietky ani voci priamemu postaveniu na ciaru. KEdze sa tam este
nemeria cas, nie je to az take podstatne.
<P>Asi vas niektore odpovede neuspokojili, ale o tom je sutaz, ze robot sa
musi aj trocha samostatne rozhodovat. Ak by ste vedeli rozmery prekazok,
tunelov atd. tak mozete vsetko vopred naprogramovat a uz to nie je autonomny
robot. Takze sa nechajte prekvapit.
<P align=right><I>Richard Balogh</I>
<P><BR>
<P><A name=technicke></P>
<H2>Technické problémy</H2></A>
<P></P>
<LI><I>Nemame celkom jasno v oblasti IR snimacov, chceli by sme ich pouzit na
sledovanie drahy, a nevieme aky pocet tychto snimacov je potrebne pouzit, a
ako ich vhodne vzajomne umiestnit.</I>
<P>To, aky pocet snimacou pouzijete je vasa vec. Potrebujete aspon dva, aby
ste mohli sledovat odchylku vlavo, vpravo. Niektori pouzivaju rad (6-8)
snimacov a maju presnejsiu informaciu - skratka to musite vymysliet, o tom je
prave sutaz.
<P>Podrobnejšie odpovedá <A href="mailto:gacho@nov1.kar.elf.stuba.sk">Ing.
Juraj Gacho:</A><BR>
<P>No, co sa tyka drahy, bude to cierna ciara na bielom podklade. Ked na tu
drahu niecim zasvietite, tak z toho cierneho povrchu sa bude odrazat menej
svetla ako z bieleho - a to sa vlastne bude vyuzivat. V minulom rocniku mali
vsetky zucastnene roboty (aspon myslim) pouzite 2 snimace, jeden z nich
sledoval ciaru a jeden bielu podlahu vedla ciary. Z toho vyplyval aj
algoritmus riadenia, kedy cielom riadenia bolo chodit tak, aby jeden snimac
isiel ponad biele pasmo (podlahu) a jeden ponad cierne pasmo (ciaru). Daju sa
pouzit fototranzistory, fotodiody alebo fotorezistory, alebo je mozne pouzit
aj integrovane snimace-zvacsa IR. (v principe je jedno, ci robite s viditelnym
svetlom, alebo infracervenym). Je vhodne zabezpecit, aby bocne svetlo
nesposobovalo problemy (nejako odtienit snimace a mat vlastne osvetlenie. Ak
nieco o takychto snimacoch viete, tak vam odporucam pozriet na internete
nejake katalogove listy, alebo skocit niekde do obchodu so suciastkami a
porozpravat sa s predavacom, alebo mozete skocit za niekym na fakulte, kto sa
tym zaobera. Mozno by ste nieco nasli aj v casopise <A
href="http://www.atpjournal.sk/">AT&amp;P Journal</A>, kde uz viac ako rok
bezi serial Senzory v automatizacii (autor - Miroslav Toman). Niekde v
kniznici by ste to hadam nasli.
<P>Co sa poctu tyka, je potrebne, aby ste vedeli kde je ciara a ked ciaru
stratite, tak aby ste vedeli, ze sa nachadzate napr. vlavo alebo vpravo od
ciary. Najjednoduchsie je riesenie s dvomi snimacmi, ako som uz popisal hore.
Ale tieto by nemali byt od seba vzdialene viac ako je sirka ciary, aby sa
nestalo, ze obidvomi snimacmi idete ponad bielu podlahu a nebudete vediet, kde
je ciara, ked bude medzi snimacmi. Ale mozete mat samozrejme aj viac snimacov
a potom budete vediet, ako daleko je ciara napr. od stredu robota...
<P>
<HR>
 
<LI><I>Je vhodne na detekciu prekazky pouzit IR snimac, alebo dotykovy snimac?
Nestrati robot pri detekcii prekazky pri pouziti dotykoveho snimaca viac casu
tym, ze musi prist az k nej a dotknut sa jej? V pripade pouzitia IR snimaca by
robot prekazku zaregistroval skor a tiez by ju mohol zacat skor obchadzat?</I>
 
<P>Samozrejme, ze pri pouziti bezdotykoveh snimaca (napr IR) vyzera aj
spravanie sa robota "inteligentnejsie", ale dotykovy snimac je jednoduchsi. Je
pravda aj to, ze ked prekazku zaregistruje skor, moze ju obist s mensou
casovou stratou. No mozno sa hodi pouzit kombinaciu - aj IR aj dotykovy snimac
na prekazku.
<P>Tuto uvahu musite vyriesit sami. Mate teda pravdu, ze IR by mohlo byt
lepsie, zalezi vsak velmi aj na algoritme obchadzania.
<P>
<HR>
 
<LI><I>Bolo by mozne zvysit rychlost pohybu robota pouzitim vacsieho napajania
krokovych motorcekov (z disketovej mechaniky)?</I>
<P>Nie. Od velkosti napatia (prudu) zavisi moment krokoveho motora (KM), ale
rychlost KM v ustalenom stave zavisi od frekvencie impulzov. Zvacsenim
napajania je mozne docielit, ako som uz spominal, vacsi moment a teda aj
lepsie zrychlenie, ale na druhej strane sa zvysi spotreba.
<P>Ale musim vas upozornit, ze krokace maju iste fyzikalne obmedzenia a tak
ani frekvenciu nemozete zvysovat lubovolne. Od istej hodnoty motor tzv.
vypadava, t.j. nestiha reagovat na vsetky impulzy, teda "straca krok".
<P>
<HR>
 
<LI><I>Musime si zakladnu dosku, do ktorej osadime mikropocitac vyrobit sami,
alebo pravidla povoluju pouzitie kupenej dosky?</I>
<P>Mozete si kupit skoro vsetko, vylucene je len kupit celeho robota hotoveho.
Su (na zapade) aj take stavebnice....
<P>V sutazi ide najma o pouzity algoritmus (teda riadiaci program) a vhodnu
volbu snimacov.
<P>
<HR>
 
<LI><I>Stavam robotka na tu sutaz mobilnych robotov a mam taky napad pohanat
ho nie krokovymi motormi, ale jednosmernymi motormi( z teslackych
magnetofonov). Celkom vy to islo, prevod by som mal porieseny, ale neviem ako
sa to da riadit. Mam pouzit krokove motory, alebo mozem aj tie jednosmerne? A
ako sa daju riadit jednosmerne motory?</I>
<P>S jednosmernými motormi môžu by isté problémy, pretože ich rýchlos v
ustálenom stave (teda v stave kedy sa už rýchlos nemení) závisí okrem
vstupného napätia aj od zaaženia. V dynamickom režime (teda pri rozbiehaní a
brzdení) závisí priebeh rýchlosti tiež napr. od hmotnosti robota. Keïže
hmotnos robota ani zaaženie motora nevieme vhodne ovplyvòova, môžeme motor
riadi zmenou napájacieho napätia.
<P>Použitie jednosmerných motorov na pohon robota závisí do istej miery aj od
koncepcie podvozku robota. Ak má by robot poháòaný tak, že sa vyžaduje, aby
boli rýchlosti rôznych motorov v želanom pomere, (napr. by boli poháòané 2
kolesá každé vlastným motorom, smer zatáèania robota by bol potom odvodený od
vzájomného pomeru rýchlostí jdnotlivých motorov), použitie jednosmerných
motorov by som neodporúèal, lebo by boli potrebné snímaèe rýchlostí a
dostatoène rýchle regulátory obidvoch motorov. V tomto prípade je použitie
krokových motorov omnoho jednoduchšie.
<P>Ak by však bol na pohon robota použitý iba jeden motor a zatáèanie robota
by bolo riešené nejako inak, potom by sa dal jednosmerný motor použi napr.
tak, že by sa vstupným napätím nastavila vhodná rýchlos. Keïže by sa
zaaženie motora poèas jazdy menilo iba minimálne (nerovnosti na trati),
otáèky motora by sa tiež menili iba v malom rozsahu.
<P>A ako zmeni napájacie napätie motora? Najjednoduchším riešením je zapoji
vhodný odpor (potenciometer) do série s motorom. "Krajším" riešením je napája
motor šírkovo modulovaným napätím. Na generovanie riadiaceho signálu pre
šírkovú moduláciu je možné využi nejaký oscilátor, alebo riadiaci procesor,
pokia¾ disponuje šírkovou moduláciou alebo pulzným generátorom. Riadiaci
signál bude potom vstupom do spínacieho tranzistora, alebo, ak je potrebná
reverzácia otáèok motora, do H-mostu, cez ktorý bude motor napájaný.
<P>Na záver: Ak sa rozhodnete použi jednosmerné motory namiesto krokových,
zvolili ste si nároènejšiu, nie však neschodnú cestu. Zaèiatoèníkom by som
však odporuèil použi krokové motory.
<P>Juraj Gacho <TT>&lt;gacho@nov1.kar.elf.stuba.sk&gt;</TT>
<HR>
</LI></UL><A name=hladame>
<H2>H¾adáme odpovede:</H2></A>
<UL>
<P>
<LI><I>Kde by som našiel schémy zapojení robotov do súaže?</I>
<HR>
</LI></UL>Na otázky odpovedali pracovníci a doktoranti Katedry automatizácie FEI
STU.
<P><BR>
<P align=center>[<A
href="http://www.robotika.sk/contest/novinky.html">Novinky</A>] [<A
href="http://www.robotika.sk/contest/pravidla.html">Pravidlá</A>] [<A
href="http://www.robotika.sk/contest/roboti.html">Roboti</A>] [Poradòa] [<A
href="http://www.robotika.sk/contest/archive/index.html">Archív</A>]
<P><BR>
<P>
<HR width=500 SIZE=1>
 
<P align=center><A href="http://www.kar.elf.stuba.sk/" target=_blank><IMG
height=79 alt=KAR src="poradna_soubory/karlogo.gif" width=94 border=0></A> <A
href="http://www.datalan.sk/" target=_blank><IMG height=79 alt=DATALAN
src="poradna_soubory/datlogo3.gif" width=273 border=0></A> <A
href="http://www.microstep-mis.sk/" target=_blank><IMG height=79 alt=MS-MIS
src="poradna_soubory/mislogo.gif" width=173 border=0></A>
<P><BR>
<P>
<HR>
 
<P align=center><FONT size=-2>© 2002 Katedra automatizácie a regulácie FEI
STU<BR>Ilkovièova 3, 812 19 Bratislava <BR>Posledná zmena: 12. októbra
2002.<BR>Zodpovedný èlovek: <I><A href="mailto:balogh@elf.stuba.sk">Richard
Balogh</A></I>. </FONT></P></BODY></HTML>
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S90380007C
/roboti/istrobot/callis/Kopie (2) - callis_1.nqc
0,0 → 1,192
#define THRESHOLD 44 // rozhodovaci uroven mezi cernou a bilou
#define FTHRESHOLD 100 // Rozhodovaci uroven dalkoveho sensoru
#define MLEFT OUT_C // Motory
#define MRIGHT OUT_A
#define RSENSOR SENSOR_1 // Sensory na caru
#define LSENSOR SENSOR_3
#define BUMPER SENSOR_2 // Dalkovy sensor
 
#define L 0 // left
#define R 1 // right
#define S 2 // straight
 
int movement; // smer minuleho pohybu
int line; // na ktere strane byla detekovana cara
int dira; // pocitadlo pro nalezeni preruseni cary
int derivace; // jak moc se bude zachovavat predesly smer
 
void Straight() // rovne
{
OnRev(MLEFT);
OnFwd(MRIGHT);
movement=S;
}
 
void Left() // doleva
{
Off(MLEFT);
OnFwd(MRIGHT);
movement=L;
}
 
void Right() // doprava
{
OnRev(MLEFT);
Off(MRIGHT);
movement=R;
}
 
task main()
{
PlaySound (SOUND_DOUBLE_BEEP);
Wait(100); // 1s
SetSensor(RSENSOR,SENSOR_LIGHT); // senzor na caru modry pravy
SetSensor(LSENSOR,SENSOR_LIGHT); // senzor na caru modry levy
// sensor na prekazku
SetSensor(BUMPER,_SENSOR_CFG(SENSOR_TYPE_LIGHT, SENSOR_MODE_RAW));
SetTxPower(TX_POWER_HI); // aby daleko videl
 
movement=S;
line=S;
dira=0;
 
start cara;
start cihla;
SetPower (MLEFT,OUT_FULL);
SetPower (MRIGHT,OUT_FULL);
}
 
task cara()
{
Straight();
while(true)
{
if (THRESHOLD < RSENSOR)
{
line=R;
dira=0;
switch(movement)
{
case L:
Right();
break;
default:
Straight();
};
}
else
if (THRESHOLD < LSENSOR)
{
line=L;
dira=0;
switch(movement)
{
case R:
Left();
break;
default:
Straight();
};
}
else
{
if (20 < dira++)
{
PlaySound (SOUND_FAST_UP);
switch(movement)
{
case L:
line=R;
Off(MLEFT); //couvej
OnRev(MRIGHT);
break;
case R:
line=L;
OnFwd(MLEFT); // couvej
Off(MRIGHT);
break;
};
Wait(50);
Straight();
Wait(5);
dira=0;
};
 
switch(line)
{
case L:
Left();
break;
case R:
Right();
break;
};
}
} // while(true)
}
 
 
task cihla() // dalkovy sensor
{
int lastlevel;
 
lastlevel = 0;
while(true)
{
SendMessage(0);
if(lastlevel > BUMPER)
{
PlaySound(SOUND_DOWN);
stop cara;
Off(MLEFT); // stop
Off(MRIGHT);
Wait(5);
OnRev(MLEFT); // do leva
OnRev(MRIGHT);
Wait(30);
Off(MLEFT); // stop
Off(MRIGHT);
Wait(5);
OnRev(MLEFT); // rovne
OnFwd(MRIGHT);
Wait(70);
Off(MLEFT); // stop
Off(MRIGHT);
Wait(5);
OnFwd(MLEFT); // do prava
OnFwd(MRIGHT);
Wait(25);
Off(MLEFT); // stop
Off(MRIGHT);
Wait(5);
OnRev(MLEFT); // rovne
OnFwd(MRIGHT);
Wait(80);
Off(MLEFT); // stop
Off(MRIGHT);
Wait(5);
OnFwd(MLEFT); // do prava
OnFwd(MRIGHT);
Wait(25);
Off(MLEFT); // stop
Off(MRIGHT);
Wait(5);
OnRev(MLEFT); // rovne
OnFwd(MRIGHT);
Wait(60);
OnRev(MLEFT); // do leva
OnRev(MRIGHT);
Wait(20);
while(THRESHOLD > RSENSOR); // toc se dokud neni cara
Off(MLEFT); // stop
Off(MRIGHT);
Wait(30);
line=R;
start cara;
}
lastlevel = BUMPER;
lastlevel -= FTHRESHOLD;
}
}
 
 
/roboti/istrobot/callis/Kopie (2) - callis_spravne motory.nqc
0,0 → 1,154
#define THRESHOLD 44 // rozhodovaci uroven mezi cernou a bilou
#define FTHRESHOLD 100 // Rozhodovaci uroven dalkoveho sensoru
#define ML OUT_A // Motory
#define MR OUT_C
#define FL OnFwd(ML) // Vpred
#define FR OnRev(MR)
#define BL OnRev(ML) // Vzad
#define BR OnFwd(MR)
#define RSENSOR SENSOR_3 // Sensory na caru
#define LSENSOR SENSOR_1
#define BUMPER SENSOR_2 // Dalkovy sensor
 
#define L 0 // left
#define R 1 // right
#define S 2 // straight
 
int movement; // smer minuleho pohybu
int line; // na ktere strane byla detekovana cara
int dira; // pocitadlo pro nalezeni preruseni cary
 
void Straight() // rovne
{
FL;
FR;
movement=S;
}
 
void Left() // doleva
{
Off(ML);
FR;
movement=L;
}
 
void Right() // doprava
{
FL;
Off(MR);
movement=R;
}
 
task main()
{
PlaySound (SOUND_DOUBLE_BEEP);
Wait(100); // 1s
SetSensor(RSENSOR,SENSOR_LIGHT); // senzor na caru modry pravy
SetSensor(LSENSOR,SENSOR_LIGHT); // senzor na caru modry levy
// sensor na prekazku
SetSensor(BUMPER,_SENSOR_CFG(SENSOR_TYPE_LIGHT, SENSOR_MODE_RAW));
SetTxPower(TX_POWER_HI); // aby daleko videl
 
SetPower (ML,OUT_FULL); // vykon motoru
SetPower (MR,OUT_FULL);
movement=S;
line=S;
dira=0;
 
start cara;
start cihla;
}
 
task cara() // sledovani cary
{
Straight();
while(true)
{
if (THRESHOLD < RSENSOR) // Cara vpravo
{
line=R; // cara zrejme bude na druhe strane
dira=0; // nuluj pocitadlo diry
switch(movement)
{
case L:
Right();
break;
default:
Straight();
};
}
else
if (THRESHOLD < LSENSOR) // Cara vlevo
{
line=L; // zaznamenej, kdes videl caru
dira=0; // nuluj pocitadlo diry
switch(movement)
{
case R:
Left();
break;
default:
Straight();
};
}
else // sensory mimo caru
{
if (20 < dira++) // nejedeme uz moc dlouho bez cary?
{
PlaySound (SOUND_FAST_UP);
switch(movement)
{
case L:
line=R; // cara zrejme bude na druhe strane
Off(ML); //couvej
BR;
break;
case R:
line=L; // cara zrejme bude na druhe strane
BL; // couvej
Off(MR);
break;
};
Wait(50); // zpet, ale ne uplne a kousek rovne
Straight();
Wait(5);
dira=0; // myslime si, ze diru jsme vyresili
};
 
switch(line) // kdyz nevidis caru, tak jed tam, kdes ji videl naposled
{
case L:
Left();
break;
case R:
Right();
break;
};
}
} // while(true)
}
 
 
task cihla() // dalkovy sensor
{
int lastlevel;
 
lastlevel = 0;
while(true)
{
SendMessage(0);
if(lastlevel > BUMPER)
{
PlaySound(SOUND_DOWN);
stop cara;
Off(ML); // zatim pouze zastav
Off(MR);
Wait(300);
start cara;
}
lastlevel = BUMPER;
lastlevel -= FTHRESHOLD;
}
}
 
 
/roboti/istrobot/callis/Kopie (3) - callis.nqc
0,0 → 1,153
#define THRESHOLD 44 // rozhodovaci uroven mezi cernou a bilou
#define FTHRESHOLD 100 // Rozhodovaci uroven dalkoveho sensoru
#define MLEFT OUT_C // Motory
#define MRIGHT OUT_A
#define RSENSOR SENSOR_1 // Sensory na caru
#define LSENSOR SENSOR_3
#define BUMPER SENSOR_2 // Dalkovy sensor
 
#define L 0 // left
#define R 1 // right
#define S 2 // straight
 
int movement; // smer minuleho pohybu
int line; // na ktere strane byla detekovana cara
int dira; // pocitadlo pro nalezeni preruseni cary
int derivace; // jak moc se bude zachovavat predesly smer
 
void Straight() // rovne
{
SetPower (MLEFT,OUT_FULL);
SetPower (MRIGHT,OUT_FULL);
OnRev(MLEFT);
OnFwd(MRIGHT);
derivace=5;
movement=S;
}
 
void Left() // doleva
{
SetPower (MLEFT,OUT_LOW);
SetPower (MRIGHT,OUT_FULL);
Off(MLEFT);
OnFwd(MRIGHT);
derivace=3;
movement=L;
}
 
void Right() // doprava
{
SetPower (MLEFT,OUT_FULL);
SetPower (MRIGHT,OUT_LOW);
OnRev(MLEFT);
Off(MRIGHT);
derivace=3;
movement=R;
}
 
task main()
{
PlaySound (SOUND_DOUBLE_BEEP);
Wait(100); // 1s
SetSensor(RSENSOR,SENSOR_LIGHT); // senzor na caru modry pravy
SetSensor(LSENSOR,SENSOR_LIGHT); // senzor na caru modry levy
// sensor na prekazku
SetSensor(BUMPER,_SENSOR_CFG(SENSOR_TYPE_LIGHT, SENSOR_MODE_RAW));
SetTxPower(TX_POWER_HI); // aby daleko videl
 
movement=S;
line=S;
dira=0;
 
// start cara;
start cihla;
 
Straight();
while(true)
{
if (THRESHOLD < RSENSOR)
{
line=R;
dira=0;
Right();
if (THRESHOLD < RSENSOR)
{
while(THRESHOLD < RSENSOR);
}
else
 
};
if (THRESHOLD < LSENSOR)
{
if (L==movement)
{
Straight();
}
else
{
line=L;
dira=0;
Left();
};
};
}
}
 
 
task cara()
{
Left();
while(true)
{
if (8 < dira++)
{
PlaySound(SOUND_DOUBLE_BEEP);
if (L==line) line=R; else line=L;
Off(MLEFT);
Off(MRIGHT);
Wait(500);
dira=0;
};
 
switch(line)
{
case S:
break;
case L:
Left();
break;
 
case R:
Right();
break;
};
// line=S;
Wait(5);
Straight();
Wait(5);
}
}
 
task cihla() // dalkovy sensor
{
int lastlevel;
 
lastlevel = 0;
while(true)
{
SendMessage(0);
if(lastlevel > BUMPER)
{
PlaySound(SOUND_FAST_UP);
stop cara;
Off(MLEFT);
Off(MRIGHT);
Wait(300);
start cara;
}
lastlevel = BUMPER;
lastlevel -= FTHRESHOLD;
}
}
 
 
/roboti/istrobot/callis/Kopie - calis.nqc
0,0 → 1,118
#define THRESHOLD 44 // rozhodovaci uroven mezi cernou a bilou
#define FTHRESHOLD 150 // Rozhodovaci uroven dalkoveho sensoru
#define RED_WHITE 60 // maximum bile na cervenem senzoru
#define MLEFT OUT_C
#define MRIGHT OUT_A
#define RSENSOR SENSOR_1
#define LSENSOR SENSOR_3
#define BUMPER SENSOR_2
 
#define L 0
#define R 1
#define S 2
 
int line;
 
task main()
{
PlaySound (SOUND_DOUBLE_BEEP);
Wait(100); // 1s
SetSensor(RSENSOR,SENSOR_LIGHT); // senzor na caru modry pravy
SetSensor(LSENSOR,SENSOR_LIGHT); // senzor na caru modry levy
SetSensor(BUMPER,_SENSOR_CFG(SENSOR_TYPE_LIGHT, SENSOR_MODE_RAW)); // senzor na prekazku
SetTxPower(TX_POWER_HI); // aby daleko videl
 
// start cihla;
// start cara;
SetPower (MLEFT,OUT_HALF);
SetPower (MRIGHT,OUT_HALF);
OnRev(MLEFT); // rozjed se vpred
OnFwd(MRIGHT);
line=S;
 
while(true)
{
if (THRESHOLD < RSENSOR)
{
line=R;
SetPower (MRIGHT,OUT_LOW);
OnRev(MLEFT);
};
if (THRESHOLD < LSENSOR)
{
line=L;
SetPower (MLEFT,OUT_LOW);
OnFwd(MRIGHT);
};
 
if ((THRESHOLD > LSENSOR)&&(THRESHOLD > RSENSOR))
{
if(L==line)
{
Off(MLEFT);
OnFwd(MRIGHT);
while(THRESHOLD > LSENSOR);
while(THRESHOLD < LSENSOR);
};
if(R==line)
{
Off(MRIGHT);
OnRev(MLEFT);
while(THRESHOLD > RSENSOR);
while(THRESHOLD < RSENSOR);
};
line=S;
SetPower (MLEFT,OUT_HALF);
SetPower (MRIGHT,OUT_HALF);
OnRev(MLEFT); // rozjed se vpred
OnFwd(MRIGHT);
}
}
}
 
task cara()
{
while(true)
{
OnRev(MLEFT); // rozjed se vpred
OnFwd(MRIGHT);
if (THRESHOLD < RSENSOR)
{
OnRev(MRIGHT);
Wait(1);
Off(MRIGHT);
};
if (THRESHOLD < LSENSOR)
{
OnFwd(MLEFT);
Wait(1);
Off(MLEFT);
};
while((THRESHOLD < RSENSOR)||(THRESHOLD < LSENSOR));
}
}
 
task cihla() // dalkovy sensor
{
int lastlevel;
 
lastlevel = 0;
while(true)
{
SendMessage(0);
if(lastlevel > BUMPER)
{
PlaySound(SOUND_FAST_UP);
stop cara;
Off(MLEFT);
Off(MRIGHT);
Wait(100);
start cara;
}
lastlevel = BUMPER;
lastlevel -= FTHRESHOLD;
}
}
 
 
/roboti/istrobot/callis/Kopie - callis.nqc
0,0 → 1,139
#define THRESHOLD 44 // rozhodovaci uroven mezi cernou a bilou
#define FTHRESHOLD 100 // Rozhodovaci uroven dalkoveho sensoru
#define MLEFT OUT_C // Motory
#define MRIGHT OUT_A
#define RSENSOR SENSOR_1 // Sensory na caru
#define LSENSOR SENSOR_3
#define BUMPER SENSOR_2 // Dalkovy sensor
 
#define L 0 // left
#define R 1 // right
#define S 2 // straight
 
int movement; // smer minuleho pohybu
int line; // na ktere strane byla detekovana cara
int dira; // pocitadlo pro nalezeni preruseni cary
int derivace; // jak moc se bude zachovavat predesly smer
 
void Straight() // rovne
{
SetPower (MLEFT,OUT_FULL);
SetPower (MRIGHT,OUT_FULL);
OnRev(MLEFT);
OnFwd(MRIGHT);
derivace=5;
movement=S;
}
 
void Left() // doleva
{
SetPower (MLEFT,OUT_LOW);
SetPower (MRIGHT,OUT_FULL);
Off(MLEFT);
OnFwd(MRIGHT);
derivace=5;
movement=L;
}
 
void Right() // doprava
{
SetPower (MLEFT,OUT_FULL);
SetPower (MRIGHT,OUT_LOW);
OnRev(MLEFT);
Off(MRIGHT);
derivace=5;
movement=R;
}
 
task main()
{
PlaySound (SOUND_DOUBLE_BEEP);
Wait(100); // 1s
SetSensor(RSENSOR,SENSOR_LIGHT); // senzor na caru modry pravy
SetSensor(LSENSOR,SENSOR_LIGHT); // senzor na caru modry levy
// sensor na prekazku
SetSensor(BUMPER,_SENSOR_CFG(SENSOR_TYPE_LIGHT, SENSOR_MODE_RAW));
SetTxPower(TX_POWER_HI); // aby daleko videl
 
movement=S;
line=S;
dira=0;
 
start cara;
start cihla;
 
while(true)
{
if (THRESHOLD < RSENSOR) {line=R; dira=0;};
if (THRESHOLD < LSENSOR) {line=L; dira=0;};
}
}
 
 
task cara()
{
Left();
while(true)
{
switch(line)
{
case S:
if (3 < dira++)
{
PlaySound(SOUND_DOUBLE_BEEP);
};
break;
case L:
switch(movement)
{
// case S:
case R:
Left();
break;
case L:
Right();
break;
};
break;
 
case R:
switch(movement)
{
// case S:
case L:
Right();
break;
case R:
Left();
break;
};
break;
};
line=S;
Wait(10);
}
}
 
task cihla() // dalkovy sensor
{
int lastlevel;
 
lastlevel = 0;
while(true)
{
SendMessage(0);
if(lastlevel > BUMPER)
{
PlaySound(SOUND_FAST_UP);
stop cara;
Off(MLEFT);
Off(MRIGHT);
Wait(300);
start cara;
}
lastlevel = BUMPER;
lastlevel -= FTHRESHOLD;
}
}
 
 
/roboti/istrobot/callis/Lego MindStorms Bumper1.htm
0,0 → 1,51
<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0 Transitional//EN">
<!-- saved from url=(0062)http://www.cs.uu.nl/people/markov/lego/tips/bumper1/index.html -->
<HTML><HEAD><TITLE>Lego MindStorms: Bumper1</TITLE>
<META http-equiv=Content-Type content="text/html; charset=windows-1250">
<META content="MSHTML 6.00.2800.1226" name=GENERATOR></HEAD>
<BODY background="Lego MindStorms Bumper1_soubory/back.jpg">
<TABLE>
<TBODY>
<TR vAlign=top>
<TD>
<P><IMG src="Lego MindStorms Bumper1_soubory/logo.gif"></P>
<P><A href="http://www.cs.uu.nl/people/markov/lego/index.html"><IMG
height=58 alt=[Home] src="Lego MindStorms Bumper1_soubory/homeoff.gif"
width=78 align=ABSCENTER border=0></A></P>
<P><A
href="http://www.cs.uu.nl/people/markov/lego/challenge/index.html"><IMG
height=58 alt=[Challenge]
src="Lego MindStorms Bumper1_soubory/challengeoff.gif" width=78
align=ABSCENTER border=0></A></P>
<P><A href="http://www.cs.uu.nl/people/markov/lego/rcxcc/index.html"><IMG
height=58 alt=[RcxCC] src="Lego MindStorms Bumper1_soubory/rcxccoff.gif"
width=78 align=ABSCENTER border=0></A></P>
<P><A href="http://www.cs.uu.nl/people/markov/lego/robots/index.html"><IMG
height=58 alt=[Robots] src="Lego MindStorms Bumper1_soubory/robotsoff.gif"
width=78 align=ABSCENTER border=0></A></P>
<P><A href="http://www.cs.uu.nl/people/markov/lego/tips/index.html"><IMG
height=58 alt=[Tips] src="Lego MindStorms Bumper1_soubory/tipsoff.gif"
width=78 align=ABSCENTER border=0></A></P>
<P><A href="http://www.cs.uu.nl/people/markov/lego/links/index.html"><IMG
height=58 alt=[Links] src="Lego MindStorms Bumper1_soubory/linksoff.gif"
width=78 align=ABSCENTER border=0></A></P></TD>
<TD><IMG src="Lego MindStorms Bumper1_soubory/bumper1.jpg"> <FONT
size=+4>Bumper Design</FONT>
<P><IMG src="Lego MindStorms Bumper1_soubory/divide.gif"></P>Here is a
design for a bumper. The advantages of this bumper are that it uses only
one touch sensor and still covers the whole front of the robot. Moreover,
the sensor is on when touched and off otherwise (contrary to many of the
designs that come with MindStorms. This means you can multiplex it with
other touch or light sensors on one input. It can be made from the pieces
of the Robotic Invention System. Here are the instruction:
<P><IMG src="Lego MindStorms Bumper1_soubory/step1.jpg"> <IMG
src="Lego MindStorms Bumper1_soubory/step2.jpg">
<P><IMG src="Lego MindStorms Bumper1_soubory/step3.jpg"> <IMG
src="Lego MindStorms Bumper1_soubory/step4.jpg">
<P><IMG src="Lego MindStorms Bumper1_soubory/step5.jpg"> <IMG
src="Lego MindStorms Bumper1_soubory/step6.jpg">
<P><IMG src="Lego MindStorms Bumper1_soubory/step7.jpg"> <IMG
src="Lego MindStorms Bumper1_soubory/step8.jpg">
<P><IMG src="Lego MindStorms Bumper1_soubory/divide.gif"></P>Comments to:
<ADDRESS><A href="mailto:markov@cs.uu.nl"
subject="MindStorms">markov@cs.uu.nl</A></ADDRESS></TD></TR></TBODY></TABLE></BODY></HTML>
/roboti/istrobot/callis/Lego MindStorms Bumper1_soubory/Thumbs.db
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/roboti/istrobot/callis/Lego MindStorms Bumper1_soubory/tipsoff.gif
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/roboti/istrobot/callis/Lego MindStorms Drive-Steer Car.htm
0,0 → 1,57
<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0 Transitional//EN">
<!-- saved from url=(0068)http://www.cs.uu.nl/people/markov/lego/tips/Differential1/index.html -->
<HTML><HEAD><TITLE>Lego MindStorms: Drive-Steer Car</TITLE>
<META http-equiv=Content-Type content="text/html; charset=windows-1250">
<META content="MSHTML 6.00.2800.1226" name=GENERATOR></HEAD>
<BODY background="Lego MindStorms Drive-Steer Car_soubory/back.jpg">
<TABLE>
<TBODY>
<TR vAlign=top>
<TD>
<P><IMG src="Lego MindStorms Drive-Steer Car_soubory/logo.gif"></P>
<P><A href="http://www.cs.uu.nl/people/markov/lego/index.html"><IMG
height=58 alt=[Home]
src="Lego MindStorms Drive-Steer Car_soubory/homeoff.gif" width=78
align=ABSCENTER border=0></A></P>
<P><A
href="http://www.cs.uu.nl/people/markov/lego/challenge/index.html"><IMG
height=58 alt=[Challenge]
src="Lego MindStorms Drive-Steer Car_soubory/challengeoff.gif" width=78
align=ABSCENTER border=0></A></P>
<P><A href="http://www.cs.uu.nl/people/markov/lego/rcxcc/index.html"><IMG
height=58 alt=[RcxCC]
src="Lego MindStorms Drive-Steer Car_soubory/rcxccoff.gif" width=78
align=ABSCENTER border=0></A></P>
<P><A href="http://www.cs.uu.nl/people/markov/lego/robots/index.html"><IMG
height=58 alt=[Robots]
src="Lego MindStorms Drive-Steer Car_soubory/robotsoff.gif" width=78
align=ABSCENTER border=0></A></P>
<P><A href="http://www.cs.uu.nl/people/markov/lego/tips/index.html"><IMG
height=58 alt=[Tips]
src="Lego MindStorms Drive-Steer Car_soubory/tipsoff.gif" width=78
align=ABSCENTER border=0></A></P>
<P><A href="http://www.cs.uu.nl/people/markov/lego/links/index.html"><IMG
height=58 alt=[Links]
src="Lego MindStorms Drive-Steer Car_soubory/linksoff.gif" width=78
align=ABSCENTER border=0></A></P></TD>
<TD><IMG src="Lego MindStorms Drive-Steer Car_soubory/final.jpg"> <FONT
size=+4>Drive-Steer Car</FONT>
<P><IMG src="Lego MindStorms Drive-Steer Car_soubory/divide.gif"></P>This
mechanism is based on the adder-subtractors of <A
href="http://carol.wins.uva.nl/~leo/lego/diff.html">Leo </A>and <A
href="http://www.phred.org/~alex/lego/">Alex </A>. It must be driven by
two motors; one connected to one of the four gears on one side, and the
other connected to one of the three gears on the other side. One motor
makes the wheels move in the same direction. The other sterrs by making
the wheels move in opposite direction. My design is acccording to me
stronger than the other ones. Here are some more pictures
<P><IMG src="Lego MindStorms Drive-Steer Car_soubory/step1.jpg"> <IMG
src="Lego MindStorms Drive-Steer Car_soubory/step2.jpg">
<P><IMG src="Lego MindStorms Drive-Steer Car_soubory/step3.jpg"> <IMG
src="Lego MindStorms Drive-Steer Car_soubory/step4.jpg">
<P><IMG src="Lego MindStorms Drive-Steer Car_soubory/step5.jpg"> <IMG
src="Lego MindStorms Drive-Steer Car_soubory/final.jpg">
<P><IMG
src="Lego MindStorms Drive-Steer Car_soubory/divide.gif"></P>Comments to:
<ADDRESS><A href="mailto:markov@cs.uu.nl"
subject="MindStorms">markov@cs.uu.nl</A></ADDRESS></TD></TR></TBODY></TABLE></BODY></HTML>
/roboti/istrobot/callis/Lego MindStorms Drive-Steer Car_soubory/Thumbs.db
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/roboti/istrobot/callis/Lego Robots Tips and Tricks.htm
0,0 → 1,125
<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0 Transitional//EN">
<!-- saved from url=(0054)http://www.cs.uu.nl/people/markov/lego/tips/index.html -->
<HTML><HEAD><TITLE>Lego Robots: Tips and Tricks</TITLE>
<META http-equiv=Content-Type content="text/html; charset=windows-1250">
<META content="MSHTML 6.00.2800.1226" name=GENERATOR></HEAD>
<BODY background="Lego Robots Tips and Tricks_soubory/back.jpg">
<TABLE>
<TBODY>
<TR vAlign=top>
<TD>
<P><IMG src="Lego Robots Tips and Tricks_soubory/logo.gif"></P>
<P><A href="http://www.cs.uu.nl/people/markov/lego/index.html"><IMG
height=58 alt=[Home] src="Lego Robots Tips and Tricks_soubory/homeoff.gif"
width=78 align=ABSCENTER border=0></A></P>
<P><A
href="http://www.cs.uu.nl/people/markov/lego/challenge/index.html"><IMG
height=58 alt=[Challenge]
src="Lego Robots Tips and Tricks_soubory/challengeoff.gif" width=78
align=ABSCENTER border=0></A></P>
<P><A href="http://www.cs.uu.nl/people/markov/lego/rcxcc/index.html"><IMG
height=58 alt=[RcxCC]
src="Lego Robots Tips and Tricks_soubory/rcxccoff.gif" width=78
align=ABSCENTER border=0></A></P>
<P><A href="http://www.cs.uu.nl/people/markov/lego/robots/index.html"><IMG
height=58 alt=[Robots]
src="Lego Robots Tips and Tricks_soubory/robotsoff.gif" width=78
align=ABSCENTER border=0></A></P>
<P><A href="http://www.cs.uu.nl/people/markov/lego/tips/index.html"><IMG
height=58 alt=[Tips] src="Lego Robots Tips and Tricks_soubory/tipson.gif"
width=78 align=ABSCENTER border=0></A></P>
<P><A href="http://www.cs.uu.nl/people/markov/lego/links/index.html"><IMG
height=58 alt=[Links]
src="Lego Robots Tips and Tricks_soubory/linksoff.gif" width=78
align=ABSCENTER border=0></A></P></TD>
<TD><FONT size=+4>Lego Robots Tips and Tricks</FONT>
<P><IMG src="Lego Robots Tips and Tricks_soubory/divide.gif"></P>
<P>
<H2>Sensors</H2>
<H3>Putting light and touch sensors on one input</H3>It is easy to put
touch and light sensors on one sensor input. In this case better set the
sensor mode to raw. In nqc this can be done as follows: <PRE> SetSensor(SENSOR_2,_SENSOR_CFG(SENSOR_TYPE_LIGHT, SENSOR_MODE_RAW));
</PRE>Now a value below 100 is a touch sensor event. Values above this
correspond to light levels (the higher the darker).
<H3>Using the IR port for proximity detection</H3>It turns out that the
light sensor is very sensitive to the infra-red light produced by the the
IR port on the robot. To uses this, mount the light sensor above the IR
port, pointing forward. Now regularly send messages. When there is a wall
close in front of the robot, you can notice this by high intensity changes
in the reading of the light sensor (preferably in raw mode). The closer
you get, the higher the fluctuations become. After a bit of tuning you can
rather accurately predict the distance. Here is a simple <A
href="http://www.cs.uu.nl/people/markov/lego/tips/ping.nqc">nqc
program</A> to demonstrate how this works. Thanks to Dave Chen and Simen
Svale Skogsrud for finding out about this.
<H2>Design</H2>
<H3>Front and back</H3>All designs that come with Lego MindStorms use the
IR-port side of the RCX as the front. This is not a good idea because you
normally add a lot of stuff at the front, making the IR-port almost
invisible. Also, for balance reasons, it is good to put the motors under
the middle of the RCX. Finally, if you use a swivelling wheel, put it at
the back, not at the front. Pulling a swivelling wheel gives a much
straighter motion than pushing it.
<H3>Drive-Steer mechanism</H3>
<P>
<TABLE>
<TBODY>
<TR vAlign=top>
<TD><IMG src="Lego Robots Tips and Tricks_soubory/step3.jpg"> </TD>
<TD>This mechanism is based on the adder-subtractors of <A
href="http://carol.wins.uva.nl/~leo/lego/diff.html">Leo </A>and <A
href="http://www.phred.org/~alex/lego/">Alex </A>. It must be driven
by two motors; one connected to one of the four gears on one side,
and the other connected to one of the three gears on the other side.
One motor makes the wheels move in the same direction. The other
sterrs by making the wheels move in opposite direction. My design is
acccording to me stronger than the other ones. More pictures can be
found <A
href="http://www.cs.uu.nl/people/markov/lego/tips/Differential1/index.html">here</A>.
</TD></TR></TBODY></TABLE>
<H3>Double motor power</H3>
<P>
<TABLE>
<TBODY>
<TR vAlign=top>
<TD><IMG src="Lego Robots Tips and Tricks_soubory/twomotors.jpg">
</TD>
<TD>If you need extra motor power, and you have enough motors,
connect two together. You can out them both on the same output to
drive them simultaneously. This is especially good for heavy robots
or if you want your robots to go fast. I assume you can do the same
with three or more motors, but I am not sure how many you can
connect to one output. </TD></TR></TBODY></TABLE>
<H3>Bumpers</H3>
<P>
<TABLE>
<TBODY>
<TR vAlign=top>
<TD><IMG src="Lego Robots Tips and Tricks_soubory/bumper1.jpg"> </TD>
<TD>Here is bumper I designed that uses only one touch sensor.
Instructions for building it can be found <A
href="http://www.cs.uu.nl/people/markov/lego/tips/bumper1/index.html">here</A>.
</TD></TR></TBODY></TABLE>
<H2>Internals</H2>
<H3>Free memory</H3>After loading the firmware, it seems that there is
about 6K of memory available for programs. You can use the <B>RCX Command
Center</B> to free this memory when required.
<H2>Programming with SPIRIT.OCX</H2>
<H3>Using the joystick</H3>Here is an <A
href="http://www.cs.uu.nl/people/markov/lego/tips/RCXJoystick.zip">example
program</A> (in Delphi 3) of how you can use the joystick to steer the
RCX. It comes with full source and is freeware. It is a simplified
stand-alone version of the joystick window in my RCX Command Center
version 2.0.
<H3>Registering SPIRIT.OCX</H3>If you don't want to install the lego
software on your system but still use programs like the <B>RCX Command
Center</B> you must register the OCX. Copy the spirit.ocx file from the
lego Cdrom to you harddisk and use the Run command in the windows Start
menu to execute <PRE> REGSVR32.EXE spirit.ocx
</PRE>This will register the ocx on your machine. (You might need to
specify the path of the ocx in the above command.)
<H3>Bugs</H3>There is a bug in the OCX: When polling the mode of a sensor
(e.g. Poll(11,0)) you don't get the right mode but 32* the mode.
<P>There is another bug in the polling command. Polling the watch gives
you the total time in minutes, and not divided in hours and minutes as the
doc suggests. </P></TD></TR></TBODY></TABLE></BODY></HTML>
/roboti/istrobot/callis/Lego Robots Tips and Tricks_soubory/Thumbs.db
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/roboti/istrobot/callis/ModelHobby2004.bak
0,0 → 1,118
// Robot na MiniSumo pro Model Hobby 2004
// $Archive: /Lego/ModelHobby2004.nqc $
// $Date: 2.10.04 0:44 $
// $Revision: 3 $
 
#define THRESHOLD 65 // rozhodovaci uroven mezi cernou a bilou
#define FTHRESHOLD 100 // Rozhodovaci uroven dalkoveho sensoru
#define POHON OUT_A // Motory
#define MULETA OUT_C
#define VPRED OnFwd(POHON)
#define VZAD OnRev(POHON)
#define NAHORU OnRev(MULETA)
#define DOLU OnFwd(MULETA)
#define PREDNI SENSOR_1 // Sensory na okraj
#define ZADNI SENSOR_3
#define BUMPER SENSOR_2 // Dalkovy sensor
 
task main()
{
PlaySound (SOUND_DOUBLE_BEEP);
Wait(400); // 5s podle pravidel - prvni prodleva procedury zapas
SetSensor(PREDNI,SENSOR_LIGHT); // senzor na caru predni
SetSensor(ZADNI,SENSOR_LIGHT); // senzor na caru zadni
// sensor na prekazku
SetSensor(BUMPER,_SENSOR_CFG(SENSOR_TYPE_LIGHT, SENSOR_MODE_RAW));
 
SetTxPower(TX_POWER_HI); // aby daleko videl
 
SetPower (POHON,OUT_FULL); // vykon motoru
SetPower (MULETA,OUT_HALF);
 
start radar;
start zapas;
start nevypadni;
start toro;
}
 
task toro()
{
int i=1;
 
while(true)
{
if (i++ & 1) {DOLU;} else {NAHORU;};
Wait(50);
Off(MULETA);
Wait(200);
}
}
 
task zapas()
{
Wait(100);
while(true)
{
VZAD;
Wait(50);
Off(POHON);
Wait(100);
VPRED;
Wait(50);
Off(POHON);
Wait(100);
Off(POHON);
Wait(100);
}
}
 
task nevypadni()
{
 
while(true)
{
if (THRESHOLD > PREDNI) // Cara vpredu
{
stop zapas;
stop radar;
PlaySound (SOUND_FAST_UP);
VZAD;
Wait(50);
start radar;
start zapas;
}
else
if (THRESHOLD > ZADNI) // Cara vzadu
{
stop zapas;
stop radar;
PlaySound (SOUND_FAST_UP);
VPRED;
Wait(50);
start radar;
start zapas;
}
} // while(true)
}
 
task radar() // dalkovy sensor
{
int lastlevel;
 
lastlevel = 0;
while(true)
{
SendMessage(0);
if(lastlevel > BUMPER) // vidime robota?
{
stop zapas;
PlaySound(SOUND_DOWN);
VPRED;
Wait(50);
}
lastlevel = BUMPER;
lastlevel -= FTHRESHOLD;
}
}
 
 
/roboti/istrobot/callis/ModelHobby2004.nqc
0,0 → 1,118
// Robot na MiniSumo pro Model Hobby 2004
// $Archive: /Lego/ModelHobby2004.nqc $
// $Date: 2.10.04 10:45 $
// $Revision: 4 $
 
#define THRESHOLD 65 // rozhodovaci uroven mezi cernou a bilou
#define FTHRESHOLD 100 // Rozhodovaci uroven dalkoveho sensoru
#define POHON OUT_A // Motory
#define MULETA OUT_C
#define VPRED OnFwd(POHON)
#define VZAD OnRev(POHON)
#define NAHORU OnRev(MULETA)
#define DOLU OnFwd(MULETA)
#define PREDNI SENSOR_1 // Sensory na okraj
#define ZADNI SENSOR_3
#define BUMPER SENSOR_2 // Dalkovy sensor
 
task main()
{
PlaySound (SOUND_DOUBLE_BEEP);
Wait(400); // 5s podle pravidel - prvni prodleva procedury zapas
SetSensor(PREDNI,SENSOR_LIGHT); // senzor na caru predni
SetSensor(ZADNI,SENSOR_LIGHT); // senzor na caru zadni
// sensor na prekazku
SetSensor(BUMPER,_SENSOR_CFG(SENSOR_TYPE_LIGHT, SENSOR_MODE_RAW));
 
SetTxPower(TX_POWER_HI); // aby daleko videl
 
SetPower (POHON,OUT_FULL); // vykon motoru
SetPower (MULETA,OUT_HALF);
 
start radar;
start zapas;
start nevypadni;
start toro;
}
 
task toro()
{
int i=1;
 
while(true)
{
if (i++ & 1) {DOLU;} else {NAHORU;};
Wait(50);
Off(MULETA);
Wait(200);
}
}
 
task zapas()
{
Wait(100); // napodruhe pojedeme dele dozadu
while(true)
{
VZAD; // mateni telem
Wait(50);
Off(POHON);
Wait(100);
VPRED;
Wait(50);
Off(POHON);
Wait(100);
Off(POHON);
Wait(100);
}
}
 
task nevypadni()
{
 
while(true)
{
if (THRESHOLD > PREDNI) // Cara vpredu
{
stop zapas;
stop radar;
PlaySound (SOUND_FAST_UP);
VZAD;
Wait(50);
start radar;
start zapas;
}
else
if (THRESHOLD > ZADNI) // Cara vzadu
{
stop zapas;
stop radar;
PlaySound (SOUND_FAST_UP);
VPRED;
Wait(50);
start radar;
start zapas;
}
} // while(true)
}
 
task radar() // dalkovy sensor
{
int lastlevel;
 
lastlevel = 0;
while(true)
{
SendMessage(0);
if(lastlevel > BUMPER) // vidime robota?
{
stop zapas;
PlaySound(SOUND_DOWN);
VPRED;
Wait(50);
}
lastlevel = BUMPER;
lastlevel -= FTHRESHOLD;
}
}
 
 
/roboti/istrobot/callis/NQC FAQ.htm
0,0 → 1,445
<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0 Transitional//EN">
<!-- saved from url=(0046)http://www.baumfamily.org/nqc_old/doc/faq.html -->
<HTML><HEAD><TITLE>NQC FAQ</TITLE>
<META http-equiv=Content-Type content="text/html; charset=windows-1250"><!-- Copyright 1998 Dave Baum -->
<META content="MSHTML 6.00.2800.1400" name=GENERATOR></HEAD>
<BODY bgColor=#ffffff>
<H2>NQC FAQ</H2>
<H3>General</H3>
<UL>
<LI><A href="http://www.baumfamily.org/nqc_old/doc/faq.html#nqc">What is
NQC?</A>
<LI><A href="http://www.baumfamily.org/nqc_old/doc/faq.html#mindstorms">What
is LEGO MINDSTORMS?</A>
<LI><A href="http://www.baumfamily.org/nqc_old/doc/faq.html#RIS2">Does NQC
support RIS 2.0?</A>
<LI><A href="http://www.baumfamily.org/nqc_old/doc/faq.html#firmware">How can
I get the RCX 2.0 firmware?</A> </LI></UL>
<H3>NQC Compiler Usage</H3>
<UL>
<LI><A href="http://www.baumfamily.org/nqc_old/doc/faq.html#dos">I'm using
Windows, and when I click on NQC a window with some text flashes on the screen
then disappears. What's going on?</A>
<LI><A href="http://www.baumfamily.org/nqc_old/doc/faq.html#-Trcx2">I'm using
the RCX 2.0 firmware but get errors when trying to call 2.0 functions (e.g.
SetUserDisplay). What's wrong?</A>
<LI><A href="http://www.baumfamily.org/nqc_old/doc/faq.html#errors">How can I
redirect errors to a file?</A>
<LI><A
href="http://www.baumfamily.org/nqc_old/doc/faq.html#spiritinstall">Where is
Spirit.ocx? RcxCC complains that it is not installed.</A> </LI></UL>
<H3>IR Communication</H3>
<UL>
<LI><A href="http://www.baumfamily.org/nqc_old/doc/faq.html#usb">How do I get
NQC to work with my USB IR tower?</A>
<LI><A href="http://www.baumfamily.org/nqc_old/doc/faq.html#control">How do I
use a computer to control the RCX?</A>
<LI><A href="http://www.baumfamily.org/nqc_old/doc/faq.html#irusb">How do I
use the IR tower with a USB Macintosh?</A>
<LI><A href="http://www.baumfamily.org/nqc_old/doc/faq.html#irdebug">Help,
RcxCC/MacNQC/NQC can't communicate with my RCX!</A>
<LI><A href="http://www.baumfamily.org/nqc_old/doc/faq.html#irlaptop">How do I
use my computer IR port with the RCX?</A>
<LI><A href="file:///Users/dave/WebSite/nqc/doc/faq.html#irxp">How can I get
the USB IR tower to work under Win XP?</A> </LI></UL>
<H3>Miscellaneous</H3>
<UL>
<LI><A href="http://www.baumfamily.org/nqc_old/doc/faq.html#spirit">Why
doesn't NQC use the Spirit OCX?</A>
<LI><A href="http://www.baumfamily.org/nqc_old/doc/faq.html#vision">Does NQC
support Vision Command?</A>
<LI><A href="http://www.baumfamily.org/nqc_old/doc/faq.html#build">What
computers/tools/etc do you use to develop NQC?</A> </LI></UL>
<P></P>
<HR align=left>
 
<P></P>
<H3><A name=nqc></A>What is NQC?</H3>
<P>NQC (Not Quite C) is a programming language for several LEGO MINDSTORMS
products including the RCX, CyberMaster, and Scout. NQC's syntax is very similar
to the C programming langauge, so experienced C programmers (and Java
programmers) should find it very easy to get started with. Even if you aren't an
experienced programmer, NQC is relatively easy to learn.</P>
<P>The two primary reasons people move up to NQC from the standard tools (RCX
Code and Robolab) is that NQC is a textual langauge, and it is more powerful.
Graphical languages are often easier to learn (no syntax errors!) but are
generally more tedious to use than a textual langauge. The graphical metaphors
of RCX Code (and to a certain extent Robolab) also significantly limit the types
of programs you can write.</P>
<P>NQC uses the same firmware as LEGO's standard tools (RCX Code and Robolab).
This means it is possible to have RCX Code, Robolab, and NQC programs loaded
onto the RCX at the same time. NQC also benefits from the stability and user
interface (e.g. the View button) provided by the standard firmware. On the minus
side, NQC must live within the constraints of the standard firmware. For
example, since the firmware does not provide floating point support, NQC cannot
provide it either. Other altermatives for programming the RCX (notably legOS and
pbForth) do not have such restrictions.</P>
<P></P>
<HR align=left>
 
<P></P>
<H3><A name=mindstorms></A>What is LEGO MINDSTORMS?</H3>
<P>LEGO MINDSTORMS is a series of LEGO sets that use special programmable bricks
to allow construction of robots. The most versatile programmable brick is the
RCX, which can be found in the Robotics Invention System set. A simpler brick,
the Scout, can be found in the Robotics Discovery set. The simplest brick, Micro
Scout, is featured in two sets with a Star Wars theme: Droid Developer Kit, and
Dark Side Developer Kit. Even though it is the most expensive, the RCX based set
is still the best value due to the versatility of the RCX itself. The Scout is a
bit more limited, but still can be programmed (using NQC) to do some interesting
things. The Micro-Scout is extremely limited, and it useful mainly as an
accessory to another programmable brick such as the RCX or Scout. Further
information on MINDSTORMS sets can be found at the official site: <A
href="http://www.legomindstorms.com/"
target=_blank>http://www.legomindstorms.com/</A>.</P>
<P></P>
<HR align=left>
 
<P></P>
<H3><A name=RIS2></A>Does NQC Support RIS 2.0?</H3>
<P>The RCX in the RIS 2.0 is nearly identical to the 1.0 RCX. However, new
firmware is used to give the RCX some new capabilities. Fortunately for existing
RCX owners, this firmware is available for download from www.legomindstorms.com
(as part of the RIS 2.0 SDK). NQC supports this new firmware (see <A
href="http://www.baumfamily.org/nqc_old/doc/faq.html#-Trcx2">here for more
info</A>).</P>
<P>RIS 2.0 also uses a new IR tower with a USB connection (instead of the
eariler RS-232 based towers). Support for the USB tower under Windows and Mac OS
X is currently in <A
href="http://www.baumfamily.org/nqc_old/beta/index.html">beta test</A>. Support
for Mac OS 9 will be added shortly and several other people are working on Linux
support.</P>
<H3>
<HR align=left>
<A name=firmware></A>How can I get the RCX 2.0 firmware?</H3>
<P>The RCX 2.0 firmware is contained in a file named FIRM0328.LGO and is
installed on your PC when you install the standard LEGO software. It is also
installed as part of the Vision Command software and the 2.0 SDK.</P>
<P>Unfortunately, all previously mentioned sources for the firmware require
software to be installed on a Windows computer. If you are using a different
operating system, then you will need to download the earlier Beta version of the
2.0 SDK which was packaged as a .zip file rather than a full installer. This
.zip file may then be expanded to get the FIRM0328.LGO file. The SDK 2.0 Beta
can be found at <A href="http://mindstorms.lego.com/sdk2beta/default.asp"
target=_blank>http://mindstorms.lego.com/sdk2beta/default.asp</A>.</P>
<P></P>
<HR align=left>
 
<P></P>
<H3><A name=dos></A>I'm using Windows, and when I click on NQC a window with
some text flashes on the screen then disappears. What's going on?</H3>
<P>NQC is a command line based tool - normally you run it by typing an
appropriate command into an MS-DOS window. When you double-click the exe file it
launches an MS-DOS console, runs NQC within it, then since NQC finishes almost
immediately, the entire window disappears.</P>
<P>Some people prefer command line based tools because they allow you to use the
text editor of your choice, etc. It also makes for identical behavior under
Windows, Mac, and Linux. In order to use the command line version of NQC you'll
need to do two things:</P>
<P>1) Use some sort of text editor (such as Notepad) to edit and save a source
file for NQC to compile.</P>
<P>2) From an MS-DOS window type the appropriate NQC command. Its usually best
to either put all of your programs and nqc.exe in the same directory, or make
sure the directory containing NQC is in your command path. For example, to
compile and download the program "test.nqc" using the default serial port you
would type the following command:</P>
<P>nqc -d test.nqc</P>
<P>An alternative is to use the <A href="http://www.cs.uu.nl/~markov/lego/"
target=_parent>RCX Command Center</A> by Mark Overmars, which is a familiar
Windows style application that provides a front end to the NQC compiler.</P>
<P></P>
<HR align=left>
 
<P></P>
<H3><A name=-Trcx2></A>I'm using the RCX 2.0 firmware but get errors when trying
to call 2.0 functions (e.g. SetUserDisplay). What's wrong?</H3>
<P>When NQC compiles a program it needs to know what kind of programmable brick
you want it to generate code for (this is called the <I>target</I> for the
compile). By default, NQC assumes you are targetting RCX 1.0. If you want to use
RCX 2.0 features, you need to tell the compiler you are using an RCX 2.0 target.
If you are using a command line version of NQC, then add <TT>-Trcx2</TT> to the
command line:</P>
<P><TT>nqc -Trcx2 -d foo.nqc</TT></P>
<P>If you don't want to type <TT>-Trcx2</TT> all the time, then just use the
environment variable <TT>NQC_OPTIONS</TT> - NQC reads this environment variable
and inserts any options in this variable at the front of the command line. For
example, if <TT>NQC_OPTIONS</TT> was set to <TT>-Trcx2</TT> and you issued the
following command</P>
<P><TT>nqc -d foo.nqc</TT></P>
<P>NQC would behave as if you actually typed</P>
<P><TT>nqc -Trcx2 -d foo.nqc</TT></P>
<P>The specifics of setting environment variables depends on your operating
system and shell. For example, under Windows you could type the following in a
command shell:</P>
<P><TT>set NQC_OPTIONS=-Trcx2</TT></P>
<P>If you want to always use RCX 2.0, then you can make this setting permament
by editing the AUTOEXEC.BAT file and adding the above command to the end of the
file. This way, the variable will get set every time Windows is started.</P>
<P>If you are using a GUI based version of NQC (such as MacNQC), then there
should be some preference setting for the target - just make sure it is set to
"RCX 2.0". Unfortunately, RcxCC does not have an "RCX 2.0" setting, but there is
a workaround. Leave the target as "RCX" (which means RcxCC won't specify any
target information and just rely on the fact that NQC defaults to RCX), then use
the <TT>NQC_OPTIONS</TT> environment variable to specify RCX 2.0 (as described
above).</P>
<P></P>
<HR align=left>
 
<P></P>
<H3><A name=errors></A>How can I redirect errors to a file?</H3>
<P>Compile errors are written to stderr, not stdout. This is to allow the
calling program to separate errors from the program listing (-l option) that
appears on stdout. The normal redirection facility of a shell only redirects
stdout, thus the errors will still be printed to the screen. Most shells have
additional syntax that allows the stderr stream to be redirected (use
"option-&gt;" in MPW, or "2&gt;" for WinNT). I do not know of any mechanism to
redirect stderr in Win95 command.com.</P>
<P>In addition, nqcc now supports (verion 1.1 b1) the ability to route error
messages to stdout with the -E option.</P>
<P></P>
<HR align=left>
 
<P></P>
<H3><A name=spiritinstall></A>Where is Spirit.ocx? RcxCC complains that it is
not installed.</H3>
<P>NQC has never used Spirit.ocx, but RcxCC used to require Spirit.ocx for
communication with the RCX. Lego no longer supports Spirit.ocx as of RIS 2.0,
but fortunately RcxCC has been updated to no longer require it. In addition,
RcxCC has been renamed to BricxCC (due to trademark concerns from Lego). You can
download the latest version of BricxCC <A
href="http://members.aol.com/johnbinder/bricxcc.htm" target=_blank>here</A>.</P>
<P></P>
<HR align=left>
 
<P></P>
<H3><A name=usb></A>How do I get NQC to work with my USB IR tower?</H3>
<P>Presently, USB towers are only supported under Mac OS X and Windows. I will
be releasing Mac OS 9 support shortly. Some other developers are working on a
Linux solution.</P>
<P>USB support is in beta test and requires version 2.4a4 of NQC.</P>
<P><B>IMPORTANT</B>- you need to tell NQC that you want it to look for a USB
tower, otherwise it assumes you have a serial tower and uses the default serial
port for your operating system (e.g. COM1 under Windows). Add <TT>-Susb</TT> to
the command line or set the <TT>RCX_PORT</TT> environment variable to
<TT>usb</TT>. When adding a command line option, put it near the beginning of
the command:</P>
<P><TT>nqc -Susb -d test.nqc</TT></P>
<P><B>Windows only:</B> NQC uses the USB driver installed by the Lego RIS 2.0
software, so you will need to install the RIS software and run it once with the
USB tower connected in order for the driver to be correctly installed.</P>
<P><B>Mac OS X only:</B> NQC talks directly to the USB tower. There is no
driver, so you'll never see the tower show up in /dev.<BR></P>
<P><SPAN style="FONT-WEIGHT: bold">FreeBSD (unoffical port):</SPAN> As of NQC
2.5 a5, the USB tower is supported when running a FreeBSD build from 02/28/03 or
later (the upcoming FreeBSD 5.1 will work).<BR></P>
<P></P>
<HR align=left>
 
<P></P>
<H3><A name=control></A>How do I use a computer to control the RCX?</H3>
<P>There are two basic ways to do this: send raw commands to the RCX, or send
'messages' which are then listened to by a program running on the RCX.</P>
<H4>Sending Messages</H4>
<P>This is generally the simplest way to interact with the RCX. First you write
a program for the RCX that continuously checks for received messages (using the
Message() and ClearMessage() calls) and then dispatches the messages
accordingly. The messages may have any value between 1 and 255. There is no
predefined meaning for these messages - your program can do whatever it wants
with each message.</P>
<P>There are several ways to send the message. You can use another RCX (or a
Scout) by calling the SendMessage() function. You can also use the nqc command
with the -msg option, for example to send message #3:</P>
<P>nqc -msg 3</P>
<P>You can use the LEGO remote control to send messages 1, 2, or 3. It is also
possible to send the message by sending the appropriate command packet (see
below)</P>
<H4>Sending Raw Commands</H4>
<P>Sending raw commands gives you complete control over the RCX. The commands
(a.k.a. opcodes or bytecodes) and the general packet format are unofficially
documented at <A href="http://graphics.stanford.edu/~kekoa/rcx/"
target=_parent>http://graphics.stanford.edu/~kekoa/rcx/</A>. For example, to
make the RCX play system sound #3 (upward tones), you would send a two-byte
command (shown in hex):</P>
<P>51 03</P>
<P>Messages are just a specific type of command - F7 followed by the message
value, so message #4 would be the packet</P>
<P>F7 04</P>
<P>If you are using NQC, you can let NQC take care of all the details of packet
formatting, getting an acknowledgement from the RCX, and retrying if a failure
occurs. You do this with the -raw option, which takes a single parameter listing
all of the bytes (in hex format) for the command:</P>
<P>nqc -raw 5103</P>
<P>If you are writing your own program, you can build up the packet yourself. A
suitable packet (for the plays sound command) would be:</P>
<P>55 ff 00 51 ae 03 fc 54 ab</P>
<H3>
<HR align=left>
<A name=irusb></A>How do I use the IR tower with a USB Macintosh?</H3>
<P>Since a USB version of the IR tower doesn't exist (yet), you will need a USB
to serial converter (such as the Keyspan TWIN adapter). If the adapter provides
a 9-pin serial connector, then you should be able to use the standard Mindstorms
cable between the adapter and the IR tower. If the adapter provides mac-style
serial connector, then you will also need an appropriate cable as desribed <A
href="http://www.baumfamily.org/lego/macmind/cables.html">here</A>.</P>
<P><I>Note: I have heard several reports of the Palm USB adapter not working. I
am not sure if this is a problem with the adapter itself, or some unusual
interaction between it and the OS. If you have been able to use a Palm USB
adapter with MacNQC or NQC, please let me know. I would like to get a definitive
answer on whether this adapter can be made to work. Personally, I use the
Keyspan Twin adapter (USA-28X), and I've heard that both the Keyspan PDA adapter
(USA-19) and Xircom PortGear USB also work.</I></P>
<P>If you are using MacNQC, then the popup menu in the Preferences dialog box
will list all available serial ports (including those provided by USB
converters).</P>
<P>If you are using the MPW version of NQC, then you will need to specify the
serial port either on the command line (using the -S option) or in the RCX_PORT
environment variable. Both methods require that you know the name of the serial
port driver. The easiest way to make this work is to use the adapter's control
panel to configure the serial port to "emulate the printer port". This will
cause the serial port to be named "B", thus you could do either of the
following:</P>
<P><TT>nqc -SB -d foo.nqc</TT></P>
<P>or</P>
<P><TT>set -e RCX_PORT B</TT></P>
<P><TT>nqc -d foo.nqc</TT></P>
<P>If you choose the second option, the <TT>set</TT> command only needs to be
executed once per MPW session - adding it to a Startup file will make life
simpler.</P>
<H3>
<HR align=left>
<A name=irdebug></A>Help, RcxCC/MacNQC/NQC can't communicate with my RCX!</H3>
<P>In most cases, problems like this boil down to a configuration issue, bad
cable, or dead battery. Here are some troubleshooting tips.</P>
<P>If the program says it cannot open the serial port, then this is almost
certainly a configuration problem. For MacNQC, make sure you have a valid serial
port selected in the Preferences dialog box. For NQC, make sure you have
specified the appropriate serial port name (default is modem port, "B" is the
printer port, see <A
href="http://www.baumfamily.org/nqc_old/doc/faq.html#irusb">above</A> for USB
based macs). For RcxCC, I suggest trying once with auto-detection, and if that
fails, then manually set the serial port in the RcxCC program.</P>
<P>If the program reports that it cannot communicate with the IR device, then
either the program is talking to the wrong serial port (see the previous item),
or there's a problem with the cable and/or battery. Make sure you have a fresh
9v battery installed in the IR tower, and if possible use the cable supplied by
Lego.</P>
<P>If the program reports that it cannot communicate with the RCX, then
communication with the IR tower is probably OK, and the problem is between the
tower and the RCX.</P>
<UL>
<LI>Certain light sources (bright sunlight, certain projection TVs) can cause
interference...try using a towel or other item to shield the IR tower and RCX
from other light.
<LI>The tower and RCX should be about 6 inches apart. Tty the switch on the
front of the tower in both positions - some people report better success with
"near" mode, and some with "far" mode.
<LI>Make sure you have firmware downloaded into the RCX. If the display only
shows "1" on it, then firmware isn't installed yet...download the firmware
using the Lego software or the -firmware option for NQC (the firmware itself
must be copied from the Lego CD or downloaded from <A
href="http://www.legomindstorms.com/"
target=_blank>http://www.legomindstorms.com/</A>). Once the firmware is
installed you should see something like "00.00 1" on the display. </LI></UL>
<P>If you have a terminal program (e.g. HyperTerminal for Windows, Zterm for the
Mac), then you can check the IR tower directly. Open up a session to the
appropriate serial port at 2400 baud, 1 stop bit, odd parity, and 8 data bits.
Turn off local echo. Start typing a few characters. A green LED on the front of
the IR tower should light up, and the characters you typed should be echoed back
to the screen (with an occasional mistake depending on how much interference
there is).</P>
<P>If you are using the command line version of NQC, then you can have it log
any serial communication. This is helpful in trying to isolate where
communication is failing. A good general-purpose test is</P>
<P><TT>nqc -v -raw 10</TT></P>
<P>Please include the output of this test in any e-mail to me regarding IR
communication problems.</P>
<P></P>
<HR align=left>
 
<P></P>
<H3><A name=irlaptop></A>How do I use my computer IR port with the RCX?</H3>
<P>You can't. At least not easily.</P>
<P>Most computers use the IrDA protocols for IR communication. The RCX uses a
proprietary protocol developed by Lego for communication. Quite simply, these
protocols are incompatable.</P>
<H4>What about IrCom? Doesn't that let me use the IR port as a regular serial
port?</H4>
<P>Yes and no. From an application's point of view, IrCom looks like a serial
port (complete with hardware handshaking and control lines). However, the IrCom
layer actually resides on top of normal IrDA communication, so what appears to
the application to be async serial communication, is in fact a bunch of IrDA
packets getting sent back and forth. Since the RCX doesn't understand IrDA
packets, it can't understand IrCom either.</P>
<H4>What if I access the hardware directly?</H4>
<P>Even if you bypassed the IrDA protocol stacks on the computer and somehow
managed to control the hardware directly (a task that is likely to be different
for different computer vendors), it still may not be possible. The Lego
protocols encode bits using a 38kHz carrier frequency. This frequency is
generated an filtered in hardware. IrDA doesn't really use a carrier frequency,
and the actual specs on bit times provide a lot of lattitued to device
manufacturers. As a result, it is difficult to get generic IrDA hardware to
generate the required 38kHz carrier reliably. Filtering the recieve side is even
more problematic.</P>
<P>I would hesitate to say that this problem is "impossible" to solve, but
people have been asking about this for over a year, and to my knowledge no
general solution has emerged. There are, however, specialized solutions for
specific pieces of hardware (usually PDAs or other handled devices such as a
Palm III).<BR></P>
<HR align=left>
 
<H3><A name=irxp></A>How can I get the USB IR tower to work under Win XP?</H3>
<P>There appear to be some timing related difficulties when using NQC with the
USB tower under Windows XP.&nbsp; If you are having difficulty downloading
programs, open the LEGO USB Tower control panel, select the Advanced Tab, and
set the Read Timeout to 300 msec.&nbsp; This generally fixes the
problem.<BR></P>
<H3>
<HR align=left>
<A name=spirit></A>Why doesn't NQC use the Spirit OCX?</H3>
<P>The Spirit OCX is only available on the PC. My personal preference is to use
a Macintosh, so I needed to have a platform independent means for communicating
with the RCX.</P>
<H3>
<HR align=left>
<A name=vision></A>Does NQC Support Vision Command?</H3>
<P>Vision command programs run in two places...all of the image processing
software runs on the PC, then sends messages to a program running on the RCX.
The messages that are sent are ordinary RCX messages, and by using Message() and
ClearMessage(), NQC programs can respond to them. Mike Gasperi calls this "<A
href="http://www.plazaearth.com/usr/gasperi/vcsensor.htm" target=_blank>Using
Vision Command as a Smart Sensor</A>".</P>
<P>Note that I have never tried this myself (Vision Command doesn't run on Mac),
so I can't really help if things don't work as expected.</P>
<H3>
<HR align=left>
</H3>
<H3><A name=build></A>What computers/tools/etc do you use to develop NQC?</H3>
<P>All of the NQC development takes place on my Macintosh PowerBook. I use
Metrowerks CodeWarrior to write and debug the code as a Macintosh
application.</P>
<P>The Code Warrior project also has targets to build the MPW version of NQC as
well as the Win32 version. Regression tests on the compiler are done on the PPC
version of the MPW tool (via a couple of MPW scripts and a bunch of sample
programs). Some minimal testing of the Win32 version is done from within Virtual
PC - I just make sure that the build went fine and that the serial port works
since that is really the only code custom to Win32.</P>
<P>For the source release, I boot into Mac OS X, copy over the NQC source tree
and build it (using make, gcc, etc). A simple test (again just to make sure the
serial port code for Unix is working) is performed. I then use a shell script to
create a source release tree, strip out any unwanted binaries, and package the
entire thing up as a .tar.gz. Recently, I've also been packaging up a Mac OS X
binary version.</P>
<P>So there you have it...development for Mac, Windows, and Unix all done on my
trusty PowerBook.</P>
<P></P>
<HR align=left>
 
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Variable 3: 0
Variable 3: 0
Variable 3: 0
Variable 3: 0
Variable 3: 0
Variable 3: 0
Variable 3: 0
Variable 3: 0
Variable 3: 0
Variable 3: 0
Variable 3: 0
Variable 3: 3
Variable 3: 0
Variable 3: -8
Variable 3: 0
Variable 3: 0
Variable 3: 0
Variable 3: 0
Variable 3: 0
Variable 3: 0
Variable 3: 0
Variable 3: -10
Variable 3: 0
Variable 3: 0
Variable 3: 3
Variable 3: 0
Variable 3: 0
Variable 3: -16
Variable 3: 0
Variable 3: 0
Variable 3: -17
Variable 3: 0
Variable 3: 0
Variable 3: 0
Variable 3: 0
Variable 3: 7
Variable 3: 1
Variable 3: 0
Variable 3: -3
Variable 3: 0
Variable 3: 0
Variable 3: 6
/roboti/istrobot/callis/ping.bak
0,0 → 1,43
/*
* Ping
* ====
* Adapted from a program by Dave Chen and Simen Svale Skogsrud
*
* This program assumes that the light sensor is on IN_2 and
* that it points in the same direction as the infrared connection
* on the robot. It beeps when the robot gets close to an obstacle.
* This is done by repeatedly sending IR messages. These cause a
* large fluctuation in light intensity.
*
* This is a nice mechanism to find a close by wall without bumping
* in to it.
*/
 
#define THRESHOLD 200 // Making this larger decreases the distance
 
int lastlevel;
 
task Ping()
// Constantly test whether there is a high fluctuation
{
SetSensor(SENSOR_2,_SENSOR_CFG(SENSOR_TYPE_LIGHT, SENSOR_MODE_RAW));
lastlevel = 0;
while(true)
{
SendMessage(0);
if(lastlevel > SENSOR_2)
{
// Close to something
PlaySound(1);
Wait(30);
}
lastlevel = SENSOR_2;
lastlevel -= THRESHOLD;
}
}
 
task main()
{
start Ping;
}
 
/roboti/istrobot/callis/ping.nqc
0,0 → 1,43
/*
* Ping
* ====
* Adapted from a program by Dave Chen and Simen Svale Skogsrud
*
* This program assumes that the light sensor is on IN_2 and
* that it points in the same direction as the infrared connection
* on the robot. It beeps when the robot gets close to an obstacle.
* This is done by repeatedly sending IR messages. These cause a
* large fluctuation in light intensity.
*
* This is a nice mechanism to find a close by wall without bumping
* in to it.
*/
 
#define THRESHOLD 100 // Making this larger decreases the distance
 
int lastlevel;
 
task Ping()
// Constantly test whether there is a high fluctuation
{
SetSensor(SENSOR_2,_SENSOR_CFG(SENSOR_TYPE_LIGHT, SENSOR_MODE_RAW));
lastlevel = 0;
while(true)
{
SendMessage(0);
if(lastlevel > SENSOR_2)
{
// Close to something
PlaySound(1);
Wait(30);
}
lastlevel = SENSOR_2;
lastlevel -= THRESHOLD;
}
}
 
task main()
{
start Ping;
}
 
/roboti/istrobot/callis/pokus.bak
0,0 → 1,14
#pragma reserve 0 3
int n;
task main()
{
PlaySound(SOUND_DOUBLE_BEEP);
asm{0x14, 3, 2, 10, 0}; // setv 3, constant, 10
CreateDatalog(100);
while (true)
{
AddToDatalog(n);
SetUserDisplay(n++, 0);
Wait(100);
}
}
/roboti/istrobot/callis/pokus.nqc
0,0 → 1,15
#pragma reserve 0 3
#define n @3 // VAR 3
task main()
{
PlaySound(SOUND_DOUBLE_BEEP);
// asm{0x14, 3, 2, 10, 0}; // setv 3, constant, 10
CreateDatalog(100);
while (true)
{
AddToDatalog(n);
n=n+1;
SetUserDisplay(n, 0);
Wait(100);
}
}
/roboti/istrobot/callis/reset.nqc
0,0 → 1,10
task main()
{
SetSensor (SENSOR_1, SENSOR_TOUCH);
SetSensor (SENSOR_2, SENSOR_TOUCH);
SetSensor (SENSOR_3, SENSOR_TOUCH);
Float (OUT_A);
Float (OUT_B);
Float (OUT_C);
StopAllTasks ();
}
/roboti/istrobot/callis/stopar_pravidla.htm
0,0 → 1,9
<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0 Frameset//EN">
<!-- saved from url=(0032)http://www.robotika.sk/mains.htm -->
<HTML><HEAD><TITLE>Slovenská verzia</TITLE>
<META http-equiv=Content-Type content="text/html; charset=iso-8859-2">
<META content="MSHTML 6.00.2800.1400" name=GENERATOR></HEAD><FRAMESET border=0
frameSpacing=0 frameBorder=0 cols=137,*><FRAME name=menu
src="stopar_pravidla_soubory/menus.htm" frameBorder=0 noResize
scrolling=no><FRAME name=telo src="stopar_pravidla_soubory/follower.htm"
frameBorder=0 noResize></FRAMESET></HTML>
/roboti/istrobot/callis/stopar_pravidla_soubory/follower.htm
0,0 → 1,195
<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0 Transitional//EN">
<!-- saved from url=(0044)http://www.robotika.sk/contest/follower.html -->
<HTML><HEAD><TITLE>Istrobot - pravidla: Stopar</TITLE>
<META http-equiv=Content-Type content="text/html; charset=windows-1250"><LINK
title="Orange Style for Robots" href="follower_soubory/istrobot.css"
type=text/css rel=StyleSheet>
<META content="MSHTML 6.00.2800.1400" name=GENERATOR></HEAD>
<BODY bgColor=white><FONT face=Helvetica,Arial size=-1>
<P align=center>[<A
href="http://www.robotika.sk/contest/novinky.html">Novinky</A>] [<A
href="http://www.robotika.sk/contest/pravidla.html">Pravidlá</A>] [<A
href="http://www.robotika.sk/contest/roboti.html">Roboti</A>] [<A
href="http://www.robotika.sk/contest/poradna.html">Poradòa</A>] [<A
href="http://www.robotika.sk/contest/archive/index.html">Archív</A>]
<P></P>
<H1>Propozície kategórie Stopár</H1><IMG height=4 alt=""
src="follower_soubory/bluelin.gif" width=500 align=top border=0>
<P><BR>
<P></P>
<H3>Súažná úloha </H3>
<P>Zostroji elektronicky riadeného autonómneho mobilného robota, ktorý prejde
po urèenej dráhe a v&nbsp;èasovom limite do cie¾a. Smer a&nbsp;trasa je daná
nama¾ovaným tmavým pruhom, na dráhe sú umiestnené rozlièné prekážky.
<P>Toto zadanie prestavuje reálnu úlohu napríklad pre automatické skladové
manipulátory a podobne.
<P></P>
<H3>Dráha</H3>Podklad dráhy bude svetlý (biely) s&nbsp;tmavou (èiernou) vodiacou
èiarou šírky 15+/-1&nbsp;mm. Celková dåžka dráhy nepresiahne 20&nbsp;m. Materiál
bude papier, drevo, linoleum alebo podobné materiály.
<P>Najmenší polomer oblúkov na trati bude 10&nbsp;cm. Celkové prevýšenie
nepresiahne 3&nbsp;cm, maximálne stúpanie a&nbsp;klesanie je 5%. Na dráhe,
podobne ako v&nbsp;reálnom svete, sa môžu vyskytova náhodné prekážky (prerušená
vodiaca èiara, prekážka na vodiacej èiare, zmena osvetlenia èiary a iné).
<P>Úlohou robota nie je nájs správnu cestu (nebudú žiadne križovatky a
odboèky), ale výhradne sledova nama¾ovanú èiaru. Na dráhe sa môže vyskytnú aj
tunel s&nbsp;minimálnym prierezom 25x25&nbsp;cm. Dráha sa poèas súaže nemení,
takže robot sa môže uèi a napr. rovné úseky pri ïalšej jazde prechádza
rýchlejšie.
<P>Robot vyštartuje z&nbsp;kruhu o&nbsp;polomere 30&nbsp;cm oznaèeného nápisom
ŠTART, za ktorým nasleduje asi 50&nbsp;cm dlhý priamy úsek, na ktorom musí nájs
stopu a nastavi sa na òu. Za týmto úsekom sa nachádza štartovacia èiara, po
prerušení svetelného lúèa (10&nbsp;mm nad povrchom dráhy) ¾ubovo¾nou èasou
robota sa zaène mera èas.
<P>Èasomiera sa zastaví po prerušení podobného lúèa na konci dráhy.
<P></P>
<H3>Èinnos robota</H3>
<P>Po umiestnení robota do štartovacieho kruhu a jeho zapnutí súažiaci nesmie
do jeho èinnosti nijakým spôsobom zasahova. Robot musí by riadený výluène
vstavanými elektronickými obvodmi.
<P>Po prekroèení štartovacej èiary robot nesmie opusti dráhu vyznaèenú tmavou
èiarou s výnimkou obchádzania prekážky. Pri pohybe nesmie zanecháva žiadne
stopy a znaèky. Na dráhe nesmie osta ani žiadna jeho súèas.
<P>Pri poškodení súažnej dráhy je robot diskvalifikovaný.
<P></P>
<H3>Rozmery a ve¾kos robota</H3>
<P>Rozmer robota nesmie v&nbsp;žiadnom smere presiahnu 25cm. Uvedomte si aj
obmedzenia dané tunelmi a polomermi oblúkov na dráhe.
<P>Minimálne rozmery nie sú obmedzené. Hmotnos nie je obmedzená.
<P></P>
<H3>Konštrukcia a materiály</H3>
<P>Na konštrukciu sa nekladú žiadne obmedzenia. Jedinou požiadavkou je to, aby
robot bol výrobkom súažiaceho (súažiacich). To nevyluèuje komerèné stavebnice
(LEGO, Fischertechnik), iba hotové výrobky.
<P></P>
<H3>Senzorika</H3>
<P>Nie sú kladené žiadne obmedzenia na typ, poèet a rozmery použitých snímaèov,
ak neporušujú iné pravidlá.
<P>Súažiaci nesmú použi žiadne vonkajšie pomôcky na zlepšenie navigácie
(nálepky, znaèky, zrkadielka,...)
<P></P>
<H3>Elektronika</H3>
<P>Žiadna èas robota nesmie pracova s&nbsp;väèším napätím ako je 24V. Celková
spotreba by nemala by viac ako 20A. Výnimky z&nbsp;tohto pravidla schva¾uje
porota. Všetky riadiace obvody musia by súèasou robota, nie je možné riadi
jeho pohyb napríklad z&nbsp;externého PC pripojeného èi už káblom, alebo
bezdrôtovo.
<P>Na použité elektronické súèiastky nie je žiadne obmedzenie.
<P>Zdroje energie sú problém súažiacich.
<P></P>
<H3>Poradie úèastníkov a priebeh súaže</H3>
<P>Poradie súažiacich bude vylosované tesne pred súažou. Úèastníci musia
absolvova predpísanú dráhu v&nbsp;poradí urèenom losovaním. Každý súažiaci
robot môže prejs dráhu trikrát vo vylosovanom poradí. Èas medzi pokusmi môže
úèastník využi na ¾ubovo¾né opravy a úpravy. Ak sa však nedostaví do 1 minúty
po výzve na štart, stráca právo absolvova pokus. V&nbsp;prípade, že sa prihlási
ve¾a súažiacich, porota môže zníži poèet pokusov, prípadne vyhlási
kvalifikaèné kolo.
<P></P>
<H3>Èasové limity</H3>
<P>Na prejdenie dráhy je stanovený èasový limit 5 minút. Po piatich minútach sa
meranie èasu zastaví a pokus sa zruší. Aj napriek tomuto handicapu však nie je
diskvalifikovaný. Zastavenie merania èasu nemá nijaký vplyv na ostatné pokusy.
<P></P>
<H3>Hodnotenie a ceny</H3>
<P>Každý prihlásený robot, ktorý prejde stanovenú dráhu, dostane diplom. Víazom
sa stane robot s&nbsp;najnižším dosiahnutým èasom zo všetkých pokusov. Okrem
toho môže porota udeli cenu za najlepšiu konštrukciu a najelegantnejšiu
konštrukciu (kapotáž).
<P></P>
<H3>Diskvalifikácia</H3>
<P>Vo všeobecnosti platí, že pri každom porušení pravidiel je robot zo súaže
vylúèený. To platí najmä v týchto situáciach:
<UL>
<LI>nebezpeèné správanie, ohrozenie bezpeènosti,
<LI>poškodenie dráhy,
<LI>ak sa robot poèas jazdy rozpadne. </LI></UL>
<P></P>
<H3>Bezpeènos</H3>
<P>Tri zákony robotiky:
<OL type=1>
<P>
<LI><B>Robot nesmie ublíži èloveku</B> alebo svojou neèinnosou dopusti, aby
bolo èloveku ublížené.
<LI><B>Robot musí poslúchnu príkaz èloveka</B>, s&nbsp;výnimkou prípadov, keï
je taký príkaz v&nbsp;rozpore s&nbsp;prvým zákonom.
<LI><B>Robot musí chráni sám seba pred znièením</B>, s&nbsp;výnimkou
prípadov, keï je to v&nbsp;rozpore s&nbsp;prvým a druhým zákonom. </LI></OL>
<P>
<DIV align=right><EM>Isaac Asimov: The Complete Robot, Nightfall Inc.,
1982.</EM> </DIV>
<P>V&nbsp;prípade, že zariadenie nebude spåòa základné bezpeènostné predpisy,
porota ho nesmie pripusti k&nbsp;súaži a nesmie dovoli jeho prevádzkovanie.
<P>Každý robot, ktorý by mohol ohrozi úèastníkov, divákov, alebo zariadenie,
bude vypnutý.
<P>
<P><BR>
<P><BR></P>
<H3>Klimatické podmienky</H3>
<P>Súaž bude prebieha v bežných klimatických podmienkach (T = 270 -
310&nbsp;K, <I>p</I> = 90 - 120&nbsp;kPa, 0 - 90% RH).
<P>Skutoènú úroveò osvetlenia scény nie je možné vopred urèi. Pred súažou bude
vyhradený èas, ktorý môžu súažiaci využi na optimálne nastavenie citlivosti
snímaèov. Organizátor nemôže zaruèi, že diváci nebudú vrha na dráhu tiene.
<P>Upozornenie: Konštruktéri si musia uvedomi, že moderné filmové a
fotografické prístroje používajú zábleskové zariadenia a infraèervené vysielaèe
na zaostrovanie. Pretože priebeh súaže bude zaznamenávaný, pri konštrukcii
treba poèíta aj s takýmito poruchovými signálmi.
<P></P>
<H3>Dokumentácia</H3>
<P>Každý súažiaci musí odovzda pred súažou dokumetáciu popisujúcu
elektroniku, koštrukciu a riadiaci algoritmus. Najlepšia forma je <TT>html</TT>,
organizátor poskytne priestor na jej uverejnenie na svojom serveri.
<P></P>
<H3>Porota</H3>
<P>Nad priebehom súaže a dodržiavaním pravidiel bdie porota.
<P>Porota je najmenej trojèlenná, skladá sa zo zástupcov fakulty, študentov a
sponzorov.
<P>Výroky poroty sú záväzné vo všetkých sporných bodoch i v&nbsp;otázkach
výkladu pravidiel.
<P></P>
<H3>Kedy a kde?</H3>
<P>Súaž bude prebieha v&nbsp;priestoroch Fakulty elektrotechniky a informatiky
na Ilkovièovej 3 v&nbsp;Bratislave 23. apríla 2003. Úèastníci budú ma možnos
otestova dráhu (pravdaže nie jej súažný tvar) v stanovených termínoch a deò
pred súažou.
<P></P>
<H3>Podpora úèastníkov</H3>
<P>Organizátor (KAR) umožní prihláseným úèastníkom pracova na zariadeniach KAR
a pod¾a možnosti ich bude pri konštrukcii podporova. Pracovníci katedry
prispejú odbornými radami, oddelenie AP poskytne vývojové prostriedky pre
procesory radu 8051.
<P>Súaž môže by doplnená ukážkami profesionálnych robotov, prípadne
demonštráciami sponzorujúcich firiem.
<P></P>
<H3>Registrácia a prihlášky</H3>
<P>Súaže sa môžu zúèastni jednotlivci a tímy (max. 5-èlenné) bez oh¾adu na vek
èi zamestnanie.
<P>Predbežnú prihlášku treba posla najneskôr do 1.&nbsp;februára 2003 na adresu
Ing. Richard BALOGH, Katedra automatizácie a regulácie, FEI STU,
Ilkovièova&nbsp;3, 812 19&nbsp;Bratislava, e-mail: <A
href="mailto:balogh@elf.stuba.sk"><TT>balogh@elf.stuba.sk</TT></A>, tel. +421 -
2 - 602 91 411. Prihlási sa je možné aj pomocou formulára na www stránke
<P align=center><A
href="http://www.robotika.sk/contest/pravidla.html#prihlaska"><TT>http://www.robotika.sk/</TT></A>
 
<P>Tam nájdete aj pravidlá, konštrukèné návody, rady, inšpiraèné obrázky a
odkazy na podobné súaže vo svete.
<P>Akáko¾vek pripomienka a podpora je vítaná. <A
href="http://www.robotika.sk/contest/pravidla.html#prihlaska"></P>
<H3>Prihláška...</H3></A>
<P><BR></FONT>
<P align=center>[<A
href="http://www.robotika.sk/contest/novinky.html">Novinky</A>] [<A
href="http://www.robotika.sk/contest/pravidla.html">Pravidlá</A>] [<A
href="http://www.robotika.sk/contest/roboti.html">Roboti</A>] [<A
href="http://www.robotika.sk/contest/poradna.html">Poradòa</A>] [<A
href="http://www.robotika.sk/contest/archive/index.html">Archív</A>]
<P><BR>
<P>
<HR>
 
<P align=center><FONT size=-2>© 2002 Katedra automatizácie a regulácie FEI
STU<BR>Ilkovièova 3, 812 19 Bratislava <BR>Posledná zmena: 19. septembra
2002.<BR>Zodpovedný èlovek: <I><A href="mailto:balogh@elf.stuba.sk">Richard
Balogh</A></I>. </FONT></P></BODY></HTML>
/roboti/istrobot/callis/stopar_pravidla_soubory/follower_soubory/bluelin.gif
Cannot display: file marked as a binary type.
svn:mime-type = application/octet-stream
Property changes:
Added: svn:mime-type
+application/octet-stream
\ No newline at end of property
/roboti/istrobot/callis/stopar_pravidla_soubory/follower_soubory/istrobot.css
0,0 → 1,24
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A:link {
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/roboti/istrobot/callis/stopar_pravidla_soubory/menus.htm
0,0 → 1,99
<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0 Transitional//EN">
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<HTML><HEAD><TITLE></TITLE>
<META http-equiv=Content-Type content="text/html; charset=windows-1250">
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<TR>
<TD><A onmouseover="window.status='';return true"
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/roboti/istrobot/callis/stopar_pravidla_soubory/menus_soubory/enverof.jpg
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/roboti/istrobot/callis/stopar_pravidla_soubory/menus_soubory/fw_menu.js
0,0 → 1,678
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/roboti/istrobot/callis/sumo.bak
0,0 → 1,60
#define THRESHOLD 44
#define POJEZD OUT_A
#define VYHAZ OUT_C
 
task main()
{
Wait(500); // 5s
SetSensor(SENSOR_2,SENSOR_LIGHT); // senzor na caru
SetSensor(SENSOR_3, SENSOR_TOUCH); // poloha vyhazovadla
SetSensorMode (SENSOR_3, SENSOR_MODE_PULSE); // koncak bude pocitat pulzy
while (true)
{
PlaySound (SOUND_CLICK);
start k_care;
Wait(1000); // 10s
stop utok;
stop k_care;
stop bumper;
}
}
 
task k_care()
{
SetPower (POJEZD,OUT_HALF/2);
OnFwd (POJEZD); // dojezd k care
while (SENSOR_2 > THRESHOLD);
Off(POJEZD);
OnRev (POJEZD);
SetPower (POJEZD,OUT_FULL);
OnFor (POJEZD, 30);
 
PlaySound (SOUND_LOW_BEEP);
start utok;
start bumper;
}
 
task utok()
{
ClearSensor (SENSOR_3);
while (SENSOR_2 > THRESHOLD); // jed, kdyz nas neco dotlaci k care
stop bumper;
SetPower (POJEZD+VYHAZ,OUT_FULL);
OnRev (POJEZD);
OnFwd(VYHAZ);
while (0 == SENSOR_3);
Off(VYHAZ);
Off(POJEZD);
 
start k_care;
}
 
task bumper()
{
Float(VYHAZ);
ClearSensor (SENSOR_3);
while (0 == SENSOR_3);
OnRev(VYHAZ+POJEZD);
Wait(50);
Off(VYHAZ+POJEZD);
}
/roboti/istrobot/callis/sumo.nqc
0,0 → 1,60
#define THRESHOLD 44
#define POJEZD OUT_A
#define VYHAZ OUT_C
 
task main()
{
Wait(500); // 5s
SetSensor(SENSOR_2,SENSOR_LIGHT); // senzor na caru
SetSensor(SENSOR_3, SENSOR_TOUCH); // poloha vyhazovadla
SetSensorMode (SENSOR_3, SENSOR_MODE_PULSE); // koncak bude pocitat pulzy
while (true)
{
PlaySound (SOUND_CLICK);
start k_care;
Wait(1000); // 10s
stop utok;
stop k_care;
stop bumper;
}
}
 
task k_care()
{
SetPower (POJEZD,OUT_HALF/2);
OnFwd (POJEZD); // dojezd k care
while (SENSOR_2 > THRESHOLD);
Off(POJEZD);
OnRev (POJEZD);
SetPower (POJEZD,OUT_FULL);
OnFor (POJEZD, 30);
 
PlaySound (SOUND_LOW_BEEP);
start utok;
start bumper;
}
 
task utok()
{
ClearSensor (SENSOR_3);
while (SENSOR_2 > THRESHOLD); // jed, kdyz nas neco dotlaci k care
stop bumper;
SetPower (POJEZD+VYHAZ,OUT_FULL);
OnRev (POJEZD);
OnFwd(VYHAZ);
while (0 == SENSOR_3);
Off(VYHAZ);
Off(POJEZD);
 
start k_care;
}
 
task bumper()
{
Float(VYHAZ);
ClearSensor (SENSOR_3);
while (0 == SENSOR_3); // jed, kdyz nekdo narazi do vyhazovace
OnRev(VYHAZ+POJEZD);
Wait(50);
Off(VYHAZ+POJEZD);
}
/roboti/istrobot/callis/sumo2.bak
0,0 → 1,98
#define THRESHOLD 44
#define POJEZD OUT_B
#define VYHAZ OUT_C
 
task main()
{
PlaySound (SOUND_DOUBLE_BEEP);
Wait(500); // 5s podle pravidel
SetSensor(SENSOR_1,SENSOR_LIGHT); // senzor na caru modry
SetSensor(SENSOR_2,SENSOR_LIGHT); // senzor na caru cerveny
SetSensor(SENSOR_3, SENSOR_TOUCH); // poloha vyhazovadla
SetSensorMode (SENSOR_3, SENSOR_MODE_PULSE); // koncak bude pocitat pulzy
while (true)
{
// kazdych 10s dojed k care a zpet do vyckavaci pozice
PlaySound (SOUND_CLICK);
start k_care;
Wait(1000); // 10s
stop k_care;
stop radar;
stop cara;
}
}
 
// udrazeni soupere, pokud drcnul do radaru nebo nas natlacil na caru
task utok()
{
stop radar;
stop cara;
PlaySound (SOUND_FAST_UP);
 
SetPower (POJEZD+VYHAZ,OUT_FULL); // plnou parou vpred
OnFwd(POJEZD);
OnRev(VYHAZ);
ClearSensor (SENSOR_3);
// tlac, dokud se radar 2x neotoci nebo je jeste videt cara
while ( (2 > SENSOR_3) || (SENSOR_2 > THRESHOLD) );
Off(VYHAZ);
Off(POJEZD);
start k_care; // po odrazeni soupere se vrat do vyckavaci pozice
stop utok;
}
 
task k_care() // najed do vyckavaci pozice
{
SetPower (POJEZD,OUT_FULL);
OnRev (POJEZD); // dojezd k care
while (SENSOR_2 < THRESHOLD);
OnFwd (POJEZD);
SetPower (POJEZD,OUT_FULL);
OnFor (POJEZD, 30); // popojed kus od cary
 
PlaySound (SOUND_DOUBLE_BEEP);
start radar;
start cara;
start cara2;
stop k_care;
}
 
task cara() // hlidani natlaceni na caru
{
while (SENSOR_2 < THRESHOLD); // utoc, kdyz nas neco dotlaci k care
start utok;
}
 
task radar() // hlidani najeti do prostoru vyhazovace
{
OnFwd(VYHAZ); // roztoceni radaru
SetPower (VYHAZ,OUT_FULL);
OnFor(VYHAZ,50);
SetPower (VYHAZ,OUT_LOW); // snizeni vykonu po roztoceni
while (true)
{
ClearSensor (SENSOR_3);
OnFwd(VYHAZ); // stouchni do radaru na 400ms
Wait(40);
Float(VYHAZ); // volnobeh
ClearTimer (0);
while (0 == SENSOR_3) // testuje se, zda se do 700ms radar otoci
{
if (Timer (0) > 7) start utok; // utoc, pokud je zablokovan radar
}
}
}
 
task cara2() // hlidani cary ze strany "radaru"
{
while (SENSOR_1 > THRESHOLD); // cekej na caru
stop radar; // vsechno zastav
stop cara;
stop k_care;
stop utok;
Off(POJEZD);
Off(VYHAZ);
start k_care; // snaz se dojet k care na druhe strane
stop cara2;
}
/roboti/istrobot/callis/sumo2.nqc
0,0 → 1,98
#define THRESHOLD 44
#define POJEZD OUT_B
#define VYHAZ OUT_C
 
task main()
{
PlaySound (SOUND_DOUBLE_BEEP);
Wait(500); // 5s podle pravidel
SetSensor(SENSOR_1,SENSOR_LIGHT); // senzor na caru modry
SetSensor(SENSOR_2,SENSOR_LIGHT); // senzor na caru cerveny
SetSensor(SENSOR_3, SENSOR_TOUCH); // poloha vyhazovadla
SetSensorMode (SENSOR_3, SENSOR_MODE_PULSE); // koncak bude pocitat pulzy
while (true)
{
// kazdych 10s dojed k care a zpet do vyckavaci pozice
PlaySound (SOUND_CLICK);
start k_care;
Wait(1000); // 10s
stop k_care;
stop radar;
stop cara;
}
}
 
// udrazeni soupere, pokud drcnul do radaru nebo nas natlacil na caru
task utok()
{
stop radar;
stop cara;
PlaySound (SOUND_FAST_UP);
 
SetPower (POJEZD+VYHAZ,OUT_FULL); // plnou parou vpred
OnFwd(POJEZD);
OnRev(VYHAZ);
ClearSensor (SENSOR_3);
// tlac, dokud se radar 2x neotoci nebo je jeste videt cara
while ( (2 > SENSOR_3) || (SENSOR_2 > THRESHOLD) );
Off(VYHAZ);
Off(POJEZD);
start k_care; // po odrazeni soupere se vrat do vyckavaci pozice
stop utok;
}
 
task k_care() // najed do vyckavaci pozice
{
SetPower (POJEZD,OUT_FULL);
OnRev (POJEZD); // dojezd k care
while (SENSOR_2 < THRESHOLD);
OnFwd (POJEZD);
SetPower (POJEZD,OUT_FULL);
OnFor (POJEZD, 50); // popojed kus od cary
 
PlaySound (SOUND_DOUBLE_BEEP);
start radar;
start cara;
start cara2;
stop k_care;
}
 
task cara() // hlidani natlaceni na caru
{
while (SENSOR_2 < THRESHOLD); // utoc, kdyz nas neco dotlaci k care
start utok;
}
 
task radar() // hlidani najeti do prostoru vyhazovace
{
OnFwd(VYHAZ); // roztoceni radaru
SetPower (VYHAZ,OUT_FULL);
OnFor(VYHAZ,50);
SetPower (VYHAZ,OUT_LOW); // snizeni vykonu po roztoceni
while (true)
{
ClearSensor (SENSOR_3);
OnFwd(VYHAZ); // stouchni do radaru na 400ms
Wait(40);
Float(VYHAZ); // volnobeh
ClearTimer (0);
while (0 == SENSOR_3) // testuje se, zda se do 700ms radar otoci
{
if (Timer (0) > 7) start utok; // utoc, pokud je zablokovan radar
}
}
}
 
task cara2() // hlidani cary ze strany "radaru"
{
while (SENSOR_1 > THRESHOLD); // cekej na caru
stop radar; // vsechno zastav
stop cara;
stop k_care;
stop utok;
Off(POJEZD);
Off(VYHAZ);
start k_care; // snaz se dojet k care na druhe strane
stop cara2;
}
/roboti/istrobot/callis/sumo_bumper.bak
0,0 → 1,152
#define THRESHOLD 44 // rozhodovaci uroven mezi cernou a bilou
#define RED_WHITE 60 // maximum bile na cervenem senzoru
#define MLEFT OUT_A
#define MRIGHT OUT_C
#define BLUE SENSOR_3
#define RED SENSOR_2
#define BBUMPER SENSOR_1
#define START_ALL start blue_bumper; start cara_cervena; start cara_modra;
 
int semafor;
 
task main()
{
PlaySound (SOUND_DOUBLE_BEEP);
Wait(500); // 5s podle pravidel
SetSensor(BLUE,SENSOR_LIGHT); // senzor na caru modry
SetSensor(RED,_SENSOR_CFG(SENSOR_TYPE_LIGHT, SENSOR_MODE_RAW)); // senzor na caru cerveny
SetSensor(BBUMPER, SENSOR_TOUCH); // naraznik modry
SetSensorMode (BBUMPER, SENSOR_MODE_BOOL); // koncak bude ...
SetPower (MLEFT,OUT_FULL);
SetPower (MRIGHT,OUT_FULL);
SetDirection(MLEFT, OUT_FWD);
SetDirection(MRIGHT, OUT_FWD);
SetTxPower(TX_POWER_HI); // aby daleko videl
 
OnFwd (MLEFT); // cuknuti na shozeni radlic
OnFwd (MRIGHT);
Wait(50);
OnRev (MLEFT);
OnRev (MRIGHT);
Wait(50); // popojed kus
Off(MLEFT);
Off(MRIGHT);
 
start blue_bumper;
start cervena;
start cara_modra;
start stochastika;
}
 
task stochastika()
{
while(true) Zatoc();
}
 
 
void GoBlue()
{
OnFwd (MLEFT);
OnFwd (MRIGHT);
Wait(300); // popojed kus
Off(MLEFT);
Off(MRIGHT);
}
 
void GoRed()
{
OnRev (MLEFT);
OnRev (MRIGHT);
Wait(300); // popojed kus
Off(MLEFT);
Off(MRIGHT);
}
 
void Obrat()
{
OnRev (MLEFT);
OnFwd (MRIGHT);
Wait(150); // popojed kus
Off(MLEFT);
Off(MRIGHT);
}
 
void Zatoc()
{
switch (Random(1))
{
case 0:
OnRev (MLEFT);
OnFwd (MRIGHT);
Wait(50);
break;
case 1:
OnFwd (MLEFT);
OnRev (MRIGHT);
Wait(50);
break;
case 2:
OnRev (MLEFT);
OnRev (MRIGHT);
Wait(70);
break;
case 3:
OnFwd (MLEFT);
OnFwd (MRIGHT);
Wait(70);
break;
}
}
 
task blue_bumper() // naraznik na modre strane
{
while(true)
{
if (1 == BBUMPER) // utoc, kdyz neco narazi do narazniku
{
stop stochastika;
PlaySound (SOUND_FAST_UP);
OnFwd (MLEFT);
OnFwd (MRIGHT);
Wait(50);
}
}
}
 
task cervena() // dalkovy sensor
{
int lastlevel;
 
lastlevel = 0;
while(true)
{
SendMessage(0);
if(lastlevel > SENSOR_2)
{
// Close to something
PlaySound(SOUND_FAST_UP);
stop stochastika;
Obrat();
start stochastika;
}
lastlevel = SENSOR_2;
lastlevel -= THRESHOLD;
}
}
 
task cara_modra() // hlidani cary
{
while(true)
{
if (BLUE < THRESHOLD) // cekej na caru
{
PlaySound (SOUND_DOUBLE_BEEP);
stop blue_bumper;
stop stochastika;
GoRed();
start blue_bumper;
start stochastika;
}
}
}
 
/roboti/istrobot/callis/sumo_bumper.nqc
0,0 → 1,153
#define THRESHOLD 44 // rozhodovaci uroven mezi cernou a bilou
#define RED_WHITE 60 // maximum bile na cervenem senzoru
#define MLEFT OUT_A
#define MRIGHT OUT_C
#define BLUE SENSOR_3
#define RED SENSOR_2
#define BBUMPER SENSOR_1
#define START_ALL start blue_bumper; start cara_cervena; start cara_modra;
 
int semafor;
 
task main()
{
PlaySound (SOUND_DOUBLE_BEEP);
Wait(500); // 5s podle pravidel
SetSensor(BLUE,SENSOR_LIGHT); // senzor na caru modry
SetSensor(RED,_SENSOR_CFG(SENSOR_TYPE_LIGHT, SENSOR_MODE_RAW)); // senzor na caru cerveny
SetSensor(BBUMPER, SENSOR_TOUCH); // naraznik modry
SetSensorMode (BBUMPER, SENSOR_MODE_BOOL); // koncak bude ...
SetPower (MLEFT,OUT_FULL);
SetPower (MRIGHT,OUT_FULL);
SetDirection(MLEFT, OUT_FWD);
SetDirection(MRIGHT, OUT_FWD);
SetTxPower(TX_POWER_HI); // aby daleko videl
 
OnFwd (MLEFT); // cuknuti na shozeni radlic
OnFwd (MRIGHT);
Wait(50);
OnRev (MLEFT);
OnRev (MRIGHT);
Wait(50); // popojed kus
Off(MLEFT);
Off(MRIGHT);
 
start blue_bumper;
start cervena;
start cara_modra;
start stochastika;
}
 
task stochastika()
{
while(true) Zatoc();
}
 
 
void GoBlue()
{
OnFwd (MLEFT);
OnFwd (MRIGHT);
Wait(300); // popojed kus
Off(MLEFT);
Off(MRIGHT);
}
 
void GoRed()
{
OnRev (MLEFT);
OnRev (MRIGHT);
Wait(300); // popojed kus
Off(MLEFT);
Off(MRIGHT);
}
 
void Obrat()
{
OnRev (MLEFT);
OnFwd (MRIGHT);
Wait(150); // popojed kus
Off(MLEFT);
Off(MRIGHT);
}
 
void Zatoc()
{
switch (Random(1))
{
case 0:
OnRev (MLEFT);
OnFwd (MRIGHT);
Wait(50);
break;
case 1:
OnFwd (MLEFT);
OnRev (MRIGHT);
Wait(50);
break;
case 2:
OnRev (MLEFT);
OnRev (MRIGHT);
Wait(70);
break;
case 3:
OnFwd (MLEFT);
OnFwd (MRIGHT);
Wait(70);
break;
}
}
 
task blue_bumper() // naraznik na modre strane
{
while(true)
{
if (1 == BBUMPER) // utoc, kdyz neco narazi do narazniku
{
stop stochastika;
PlaySound (SOUND_FAST_UP);
OnFwd (MLEFT);
OnFwd (MRIGHT);
Wait(50);
}
}
}
 
task cervena() // dalkovy sensor
{
int lastlevel;
 
lastlevel = 0;
while(true)
{
SendMessage(0);
if(lastlevel > SENSOR_2)
{
// Close to something
PlaySound(SOUND_FAST_UP);
stop stochastika;
Obrat();
Wait(50);
start stochastika;
}
lastlevel = SENSOR_2;
lastlevel -= THRESHOLD;
}
}
 
task cara_modra() // hlidani cary
{
while(true)
{
if (BLUE < THRESHOLD) // cekej na caru
{
PlaySound (SOUND_DOUBLE_BEEP);
stop blue_bumper;
stop stochastika;
GoRed();
start blue_bumper;
start stochastika;
}
}
}
 
/roboti/istrobot/callis/sumo_kaklik.nqc
0,0 → 1,158
#define THRESHOLD 44 // rozhodovaci uroven mezi cernou a bilou
#define RED_WHITE 60 // maximum bile na cervenem senzoru
#define MLEFT OUT_A
#define MRIGHT OUT_C
#define BLUE SENSOR_3
#define RED SENSOR_2
#define BBUMPER SENSOR_1
#define START_ALL start blue_bumper; start cara_cervena; start cara_modra;
 
int semafor;
 
task main()
{
PlaySound (SOUND_DOUBLE_BEEP);
Wait(500); // 5s podle pravidel
SetSensor(BLUE,SENSOR_LIGHT); // senzor na caru modry
SetSensor(RED,_SENSOR_CFG(SENSOR_TYPE_LIGHT, SENSOR_MODE_RAW)); // senzor na caru cerveny
SetSensor(BBUMPER, SENSOR_TOUCH); // naraznik modry
SetSensorMode (BBUMPER, SENSOR_MODE_BOOL); // koncak bude ...
SetPower (MLEFT,OUT_FULL);
SetPower (MRIGHT,OUT_FULL);
SetDirection(MLEFT, OUT_FWD);
SetDirection(MRIGHT, OUT_FWD);
SetTxPower(TX_POWER_HI); // aby daleko videl
 
OnFwd (MLEFT); // cuknuti na shozeni radlic
OnFwd (MRIGHT);
Wait(20);
OnRev (MLEFT);
OnRev (MRIGHT);
Wait(70); // popojed kus
Off(MLEFT);
Off(MRIGHT);
 
start blue_bumper;
start cervena;
start cara_modra;
start stochastika;
}
 
task stochastika()
{
while(true) Zatoc();
}
 
 
void GoBlue()
{
OnFwd (MLEFT);
OnFwd (MRIGHT);
Wait(300); // popojed kus
Off(MLEFT);
Off(MRIGHT);
}
 
void GoRed()
{
OnRev (MLEFT);
OnRev (MRIGHT);
Wait(300); // popojed kus
Off(MLEFT);
Off(MRIGHT);
}
 
void Obrat()
{
OnRev (MLEFT);
OnFwd (MRIGHT);
Wait(125); // popojed kus
Off(MLEFT);
Off(MRIGHT);
}
 
void Zatoc()
{
switch (Random(1))
{
case 0:
OnRev (MLEFT);
OnFwd (MRIGHT);
Wait(50);
break;
case 1:
OnFwd (MLEFT);
OnRev (MRIGHT);
Wait(50);
break;
case 2:
OnRev (MLEFT);
OnRev (MRIGHT);
Wait(70);
break;
case 3:
OnFwd (MLEFT);
OnFwd (MRIGHT);
Wait(70);
break;
}
}
 
task blue_bumper() // naraznik na modre strane
{
while(true)
{
if (1 == BBUMPER) // utoc, kdyz neco narazi do narazniku
{
stop stochastika;
PlaySound (SOUND_FAST_UP);
OnFwd (MLEFT);
OnFwd (MRIGHT);
Wait(50);
}
}
}
 
task cervena() // dalkovy sensor
{
int lastlevel;
 
lastlevel = 0;
while(true)
{
SendMessage(0);
if(lastlevel > SENSOR_2)
{
// Close to something
PlaySound(SOUND_FAST_UP);
stop stochastika;
OnRev (MLEFT);
OnRev (MRIGHT);
Wait(10); // popojed kus
Off(MLEFT);
Off(MRIGHT);
Obrat();
Wait(50);
start stochastika;
}
lastlevel = SENSOR_2;
lastlevel -= THRESHOLD;
}
}
 
task cara_modra() // hlidani cary
{
while(true)
{
if (BLUE < THRESHOLD) // cekej na caru
{
PlaySound (SOUND_DOUBLE_BEEP);
stop blue_bumper;
stop stochastika;
GoRed();
start blue_bumper;
start stochastika;
}
}
}
 
/roboti/istrobot/callis/sumo_kaklik2.bak
0,0 → 1,158
#define THRESHOLD 44 // rozhodovaci uroven mezi cernou a bilou
#define RED_WHITE 60 // maximum bile na cervenem senzoru
#define MLEFT OUT_A
#define MRIGHT OUT_C
#define BLUE SENSOR_3
#define RED SENSOR_2
#define BBUMPER SENSOR_1
#define START_ALL start blue_bumper; start cara_cervena; start cara_modra;
 
int semafor;
 
task main()
{
PlaySound (SOUND_DOUBLE_BEEP);
Wait(500); // 5s podle pravidel
SetSensor(BLUE,SENSOR_LIGHT); // senzor na caru modry
SetSensor(RED,_SENSOR_CFG(SENSOR_TYPE_LIGHT, SENSOR_MODE_RAW)); // senzor na caru cerveny
SetSensor(BBUMPER, SENSOR_TOUCH); // naraznik modry
SetSensorMode (BBUMPER, SENSOR_MODE_BOOL); // koncak bude ...
SetPower (MLEFT,OUT_FULL);
SetPower (MRIGHT,OUT_FULL);
SetDirection(MLEFT, OUT_FWD);
SetDirection(MRIGHT, OUT_FWD);
SetTxPower(TX_POWER_HI); // aby daleko videl
 
OnFwd (MLEFT); // cuknuti na shozeni radlic
OnFwd (MRIGHT);
Wait(20);
OnRev (MLEFT);
OnRev (MRIGHT);
Wait(70);
Off(MLEFT);
Off(MRIGHT);
 
start blue_bumper;
start cervena;
start cara_modra;
start stochastika;
}
 
task stochastika() // nahodne otaceni
{
while(true) Zatoc();
}
 
void GoBlue()
{
OnFwd (MLEFT);
OnFwd (MRIGHT);
Wait(300); // popojed kus
Off(MLEFT);
Off(MRIGHT);
}
 
void GoRed()
{
OnRev (MLEFT);
OnRev (MRIGHT);
Wait(300); // popojed kus
Off(MLEFT);
Off(MRIGHT);
}
 
void Obrat()
{
OnRev (MLEFT);
OnFwd (MRIGHT);
Wait(125); // popojed kus
Off(MLEFT);
Off(MRIGHT);
}
 
void Zatoc()
{
switch (Random(1))
{
case 0:
OnRev (MLEFT);
OnFwd (MRIGHT);
Wait(50);
break;
case 1:
OnFwd (MLEFT);
OnRev (MRIGHT);
Wait(50);
break;
case 2:
OnRev (MLEFT);
OnRev (MRIGHT);
Wait(70);
break;
case 3:
OnFwd (MLEFT);
OnFwd (MRIGHT);
Wait(70);
break;
}
}
 
task blue_bumper() // naraznik na modre strane
{
while(true)
{
if (1 == BBUMPER) // utoc, kdyz neco narazi do narazniku
{
stop stochastika;
PlaySound (SOUND_FAST_UP);
OnFwd (MLEFT);
OnFwd (MRIGHT);
Wait(50);
}
}
}
 
task cervena() // dalkovy sensor
{
int lastlevel;
 
lastlevel = 0;
while(true)
{
SendMessage(0);
if(lastlevel > SENSOR_2)
{
PlaySound(SOUND_FAST_UP);
stop stochastika;
OnRev (MLEFT);
OnRev (MRIGHT);
Wait(10); // popojed kus
Off(MLEFT);
Off(MRIGHT);
Obrat();
GoBlue();
start stochastika;
}
lastlevel = SENSOR_2;
lastlevel -= THRESHOLD;
}
}
 
task cara_modra() // hlidani cary
{
while(true)
{
if (BLUE < THRESHOLD) // cekej na caru
{
PlaySound (SOUND_DOUBLE_BEEP);
stop blue_bumper;
stop stochastika;
stop cervena;
GoRed();
start cervena;
start blue_bumper;
start stochastika;
}
}
}
 
/roboti/istrobot/callis/sumo_kaklik2.nqc
0,0 → 1,161
#define THRESHOLD 44 // rozhodovaci uroven mezi cernou a bilou
#define RED_WHITE 60 // maximum bile na cervenem senzoru
#define MLEFT OUT_A
#define MRIGHT OUT_C
#define BLUE SENSOR_3
#define RED SENSOR_2
#define BBUMPER SENSOR_1
#define START_ALL start blue_bumper; start cara_cervena; start cara_modra;
 
int semafor;
 
task main()
{
PlaySound (SOUND_DOUBLE_BEEP);
Wait(500); // 5s podle pravidel
SetSensor(BLUE,SENSOR_LIGHT); // senzor na caru modry
SetSensor(RED,_SENSOR_CFG(SENSOR_TYPE_LIGHT, SENSOR_MODE_RAW)); // senzor na caru cerveny
SetSensor(BBUMPER, SENSOR_TOUCH); // naraznik modry
SetSensorMode (BBUMPER, SENSOR_MODE_BOOL); // koncak bude ...
SetPower (MLEFT,OUT_FULL);
SetPower (MRIGHT,OUT_FULL);
SetDirection(MLEFT, OUT_FWD);
SetDirection(MRIGHT, OUT_FWD);
SetTxPower(TX_POWER_HI); // aby daleko videl
 
OnFwd (MLEFT); // cuknuti na shozeni radlic
OnFwd (MRIGHT);
Wait(20);
OnRev (MLEFT);
OnRev (MRIGHT);
Wait(70);
Off(MLEFT);
Off(MRIGHT);
 
Wait(20); // pockej na ustaleni narazniku
 
// rozjed tasky
start blue_bumper;
start cervena;
start cara_modra;
start stochastika;
}
 
task stochastika() // nahodne otaceni
{
while(true) Zatoc();
}
 
void GoBlue() // pojezd ve smeru modreho senzoru
{
OnFwd (MLEFT);
OnFwd (MRIGHT);
Wait(300); // popojed kus
Off(MLEFT);
Off(MRIGHT);
}
 
void GoRed() // pojezd ve smeru cerveneho senzoru
{
OnRev (MLEFT);
OnRev (MRIGHT);
Wait(300); // popojed kus
Off(MLEFT);
Off(MRIGHT);
}
 
void Obrat() // obrat o 180 stupnu
{
OnRev (MLEFT);
OnFwd (MRIGHT);
Wait(125); // popojed kus
Off(MLEFT);
Off(MRIGHT);
}
 
void Zatoc() // nahodne zatoceni, nebo popojeti
{
switch (Random(1))
{
case 0:
OnRev (MLEFT);
OnFwd (MRIGHT);
Wait(50);
break;
case 1:
OnFwd (MLEFT);
OnRev (MRIGHT);
Wait(50);
break;
case 2:
OnRev (MLEFT);
OnRev (MRIGHT);
Wait(70);
break;
case 3:
OnFwd (MLEFT);
OnFwd (MRIGHT);
Wait(70);
break;
}
}
 
task blue_bumper() // naraznik na modre strane
{
while(true)
{
if (1 == BBUMPER) // utoc, kdyz neco narazi do narazniku
{
stop stochastika;
PlaySound (SOUND_FAST_UP);
OnFwd (MLEFT);
OnFwd (MRIGHT);
Wait(50);
}
}
}
 
task cervena() // dalkovy sensor
{
int lastlevel;
 
lastlevel = 0;
while(true)
{
SendMessage(0);
if(lastlevel > SENSOR_2)
{
PlaySound(SOUND_FAST_UP);
stop stochastika;
OnRev (MLEFT);
OnRev (MRIGHT);
Wait(10); // popojed kus
Off(MLEFT);
Off(MRIGHT);
Obrat();
GoBlue();
start stochastika;
}
lastlevel = SENSOR_2;
lastlevel -= THRESHOLD;
}
}
 
task cara_modra() // hlidani cary
{
while(true)
{
if (BLUE < THRESHOLD) // cekej na caru
{
PlaySound (SOUND_DOUBLE_BEEP);
stop blue_bumper;
stop stochastika;
stop cervena;
GoRed();
start cervena;
start blue_bumper;
start stochastika;
}
}
}
 
/roboti/istrobot/callis/sumo_zataceci.bak
0,0 → 1,160
#define THRESHOLD 44 // rozhodovaci uroven mezi cernou a bilou
#define RED_WHITE 60 // maximum bile na cervenem senzoru
#define MLEFT OUT_A
#define MRIGHT OUT_C
#define BLUE SENSOR_1
#define RED SENSOR_2
#define BBUMPER SENSOR_3
#define START_ALL start blue_bumper; start cara_cervena; start cara_modra;
 
int semafor;
 
task main()
{
PlaySound (SOUND_DOUBLE_BEEP);
Wait(500); // 5s podle pravidel
SetSensor(BLUE,SENSOR_LIGHT); // senzor na caru modry
SetSensor(RED,SENSOR_LIGHT); // senzor na caru cerveny
SetSensor(BBUMPER, SENSOR_TOUCH); // naraznik modry
SetSensorMode (BBUMPER, SENSOR_MODE_BOOL); // koncak bude ...
SetPower (MLEFT,OUT_FULL);
SetPower (MRIGHT,OUT_FULL);
SetDirection(MLEFT, OUT_FWD);
SetDirection(MRIGHT, OUT_FWD);
 
k_care();
start red_bumper;
start blue_bumper;
start cara_cervena;
start cara_modra;
semafor = false;
 
ClearTimer (0);
start stochastika;
}
 
task stochastika()
{
while (true)
{
Wait(500);
if (semafor) start blue_bumper;
 
PlaySound (SOUND_CLICK);
 
OnFwd (MLEFT); // dojezd k care
OnFwd (MRIGHT); // dojezd k care
while (BLUE > THRESHOLD);
GoRed();
OnRev (MLEFT);
OnRev (MRIGHT);
Wait(100); // popojed kus
Zatoc();
 
ClearTimer (0);
}
}
 
void GoBlue()
{
OnFwd (MLEFT);
OnFwd (MRIGHT);
Wait(100); // popojed kus
Off(MLEFT);
Off(MRIGHT);
}
 
void GoRed()
{
OnRev (MLEFT);
OnRev (MRIGHT);
Wait(100); // popojed kus
Off(MLEFT);
Off(MRIGHT);
}
 
void Zatoc()
{
switch (Random(2))
{
case 0:
OnRev (MLEFT);
OnFwd (MRIGHT);
break;
case 1:
OnFwd (MLEFT);
OnRev (MRIGHT);
break;
case 2:
OnRev (MLEFT);
OnRev (MRIGHT);
}
Wait(100); // popojed kus
Off(MLEFT);
Off(MRIGHT);
}
 
void k_care() // najed do vyckavaci pozice
{
OnFwd (MLEFT); // dojezd k care
OnFwd (MRIGHT); // dojezd k care
while (BLUE > THRESHOLD);
GoRed();
OnRev (MLEFT);
OnRev (MRIGHT);
Wait(100); // popojed kus
Off(MLEFT);
Off(MRIGHT);
}
 
task red_bumper()
{
while(true)
{
while (100 != RED); // utoc, kdyz neco narazi do narazniku
PlaySound (SOUND_FAST_UP);
stop stochastika;
Zatoc();
start stochastika;
if (semafor) start blue_bumper;
}
}
 
task blue_bumper()
{
semafor = false;
while (0 == BBUMPER); // utoc, kdyz neco narazi do narazniku
PlaySound (SOUND_FAST_UP);
OnFwd (MLEFT);
OnFwd (MRIGHT);
semafor = true;
}
 
task cara_cervena() // hlidani natlaceni na caru
{
while(true)
{
while (RED < THRESHOLD || RED > RED_WHITE); // utoc, kdyz nas neco dotlaci k care
Wait(2); // kontrola za 20ms, aby se to nespletlo s naraznikem
if (RED > THRESHOLD && RED < RED_WHITE)
{
PlaySound (SOUND_DOUBLE_BEEP);
GoBlue();
}
}
}
 
task cara_modra() // hlidani cary
{
while(true)
{
while (BLUE > THRESHOLD); // cekej na caru
stop cara_cervena;
PlaySound (SOUND_DOUBLE_BEEP);
GoRed();
if (semafor) start blue_bumper;
start cara_cervena;
}
}
 
/roboti/istrobot/callis/sumo_zataceci.nqc
0,0 → 1,165
#define THRESHOLD 44 // rozhodovaci uroven mezi cernou a bilou
#define RED_WHITE 60 // maximum bile na cervenem senzoru
#define MLEFT OUT_A
#define MRIGHT OUT_C
#define BLUE SENSOR_1
#define RED SENSOR_2
#define BBUMPER SENSOR_3
#define START_ALL start blue_bumper; start cara_cervena; start cara_modra;
 
int semafor;
 
task main()
{
PlaySound (SOUND_DOUBLE_BEEP);
Wait(500); // 5s podle pravidel
SetSensor(BLUE,SENSOR_LIGHT); // senzor na caru modry
SetSensor(RED,SENSOR_LIGHT); // senzor na caru cerveny
SetSensor(BBUMPER, SENSOR_TOUCH); // naraznik modry
SetSensorMode (BBUMPER, SENSOR_MODE_BOOL); // koncak bude ...
SetPower (MLEFT,OUT_FULL);
SetPower (MRIGHT,OUT_FULL);
SetDirection(MLEFT, OUT_FWD);
SetDirection(MRIGHT, OUT_FWD);
 
// k_care();
OnFwd (MLEFT); // dojezd k care
OnFwd (MRIGHT); // dojezd k care
Wait(50);
GoRed();
 
start red_bumper;
start blue_bumper;
start cara_cervena;
start cara_modra;
semafor = false;
 
ClearTimer (0);
start stochastika;
}
 
task stochastika()
{
while (true)
{
Wait(500);
if (semafor) start blue_bumper;
 
PlaySound (SOUND_CLICK);
 
OnFwd (MLEFT); // dojezd k care
OnFwd (MRIGHT); // dojezd k care
while (BLUE > THRESHOLD);
GoRed();
OnRev (MLEFT);
OnRev (MRIGHT);
Wait(100); // popojed kus
Zatoc();
 
ClearTimer (0);
}
}
 
void GoBlue()
{
OnFwd (MLEFT);
OnFwd (MRIGHT);
Wait(100); // popojed kus
Off(MLEFT);
Off(MRIGHT);
}
 
void GoRed()
{
OnRev (MLEFT);
OnRev (MRIGHT);
Wait(100); // popojed kus
Off(MLEFT);
Off(MRIGHT);
}
 
void Zatoc()
{
switch (Random(2))
{
case 0:
OnRev (MLEFT);
OnFwd (MRIGHT);
break;
case 1:
OnFwd (MLEFT);
OnRev (MRIGHT);
break;
case 2:
OnRev (MLEFT);
OnRev (MRIGHT);
}
Wait(100); // popojed kus
Off(MLEFT);
Off(MRIGHT);
}
 
void k_care() // najed do vyckavaci pozice
{
OnFwd (MLEFT); // dojezd k care
OnFwd (MRIGHT); // dojezd k care
while (BLUE > THRESHOLD);
GoRed();
OnRev (MLEFT);
OnRev (MRIGHT);
Wait(100); // popojed kus
Off(MLEFT);
Off(MRIGHT);
}
 
task red_bumper()
{
while(true)
{
while (100 != RED); // utoc, kdyz neco narazi do narazniku
PlaySound (SOUND_FAST_UP);
stop stochastika;
GoRed();
//!!! Zatoc();
start stochastika;
if (semafor) start blue_bumper;
}
}
 
task blue_bumper()
{
semafor = false;
while (0 == BBUMPER); // utoc, kdyz neco narazi do narazniku
PlaySound (SOUND_FAST_UP);
OnFwd (MLEFT);
OnFwd (MRIGHT);
semafor = true;
}
 
task cara_cervena() // hlidani natlaceni na caru
{
while(true)
{
while (RED < THRESHOLD || RED > RED_WHITE); // utoc, kdyz nas neco dotlaci k care
Wait(2); // kontrola za 20ms, aby se to nespletlo s naraznikem
if (RED > THRESHOLD && RED < RED_WHITE)
{
PlaySound (SOUND_DOUBLE_BEEP);
GoBlue();
}
}
}
 
task cara_modra() // hlidani cary
{
while(true)
{
while (BLUE > THRESHOLD); // cekej na caru
stop cara_cervena;
PlaySound (SOUND_DOUBLE_BEEP);
GoRed();
if (semafor) start blue_bumper;
start cara_cervena;
}
}
 
/roboti/istrobot/callis/sumo_zataceci2.bak
0,0 → 1,164
#define THRESHOLD 44 // rozhodovaci uroven mezi cernou a bilou
#define RED_WHITE 60 // maximum bile na cervenem senzoru
#define MLEFT OUT_A
#define MRIGHT OUT_C
#define BLUE SENSOR_1
#define RED SENSOR_2
#define BBUMPER SENSOR_3
#define START_ALL start blue_bumper; start cara_cervena; start cara_modra;
 
int semafor;
 
task main()
{
PlaySound (SOUND_DOUBLE_BEEP);
Wait(500); // 5s podle pravidel
SetSensor(BLUE,SENSOR_LIGHT); // senzor na caru modry
SetSensor(RED,SENSOR_LIGHT); // senzor na caru cerveny
SetSensor(BBUMPER, SENSOR_TOUCH); // naraznik modry
SetSensorMode (BBUMPER, SENSOR_MODE_BOOL); // koncak bude ...
SetPower (MLEFT,OUT_FULL);
SetPower (MRIGHT,OUT_FULL);
SetDirection(MLEFT, OUT_FWD);
SetDirection(MRIGHT, OUT_FWD);
 
OnFwd (MLEFT); // cuknuti na shozeni radlic
OnFwd (MRIGHT);
Wait(50);
GoRed();
 
start red_bumper;
start blue_bumper;
start cara_cervena;
start cara_modra;
start stochastika;
}
 
task stochastika()
{
while(true) Zatoc();
}
 
 
void GoBlue()
{
OnFwd (MLEFT);
OnFwd (MRIGHT);
Wait(300); // popojed kus
Off(MLEFT);
Off(MRIGHT);
}
 
void GoRed()
{
OnRev (MLEFT);
OnRev (MRIGHT);
Wait(300); // popojed kus
Off(MLEFT);
Off(MRIGHT);
}
 
void Zatoc()
{
switch (Random(3))
{
case 0:
OnRev (MLEFT);
OnFwd (MRIGHT);
Wait(200);
break;
case 1:
OnFwd (MLEFT);
OnRev (MRIGHT);
Wait(200);
break;
case 2:
OnRev (MLEFT);
OnRev (MRIGHT);
Wait(20);
break;
case 3:
OnFwd (MLEFT);
OnFwd (MRIGHT);
Wait(20);
break;
}
}
 
void k_care() // najed do vyckavaci pozice
{
OnFwd (MLEFT); // dojezd k care
OnFwd (MRIGHT); // dojezd k care
while (BLUE > THRESHOLD);
GoRed();
OnRev (MLEFT);
OnRev (MRIGHT);
Wait(100); // popojed kus
Off(MLEFT);
Off(MRIGHT);
}
 
task red_bumper()
{
while(true)
{
if (100 == RED) // utoc, kdyz neco narazi do narazniku
{
PlaySound (SOUND_FAST_UP);
stop stochastika;
OnRev (MLEFT);
OnRev (MRIGHT);
Wait(50);
}
}
}
 
task blue_bumper()
{
while(true)
{
if (1 == BBUMPER) // utoc, kdyz neco narazi do narazniku
{
PlaySound (SOUND_FAST_UP);
stop stochastika;
OnFwd (MLEFT);
OnFwd (MRIGHT);
Wait(50);
}
}
}
 
task cara_cervena() // hlidani natlaceni na caru
{
while(true)
{
if ((RED > THRESHOLD) && (RED < RED_WHITE))
{
Wait(2);
if ((RED > THRESHOLD) && (RED < RED_WHITE))
{
PlaySound (SOUND_DOUBLE_BEEP);
stop red_bumper;
GoBlue();
start red_bumper;
start stochastika;
}
}
}
}
 
task cara_modra() // hlidani cary
{
while(true)
{
if (BLUE < THRESHOLD) // cekej na caru
{
PlaySound (SOUND_DOUBLE_BEEP);
stop blue_bumper;
GoRed();
start blue_bumper;
start stochastika;
}
}
}
 
/roboti/istrobot/callis/sumo_zataceci2.nqc
0,0 → 1,151
#define THRESHOLD 44 // rozhodovaci uroven mezi cernou a bilou
#define RED_WHITE 60 // maximum bile na cervenem senzoru
#define MLEFT OUT_A
#define MRIGHT OUT_C
#define BLUE SENSOR_1
#define RED SENSOR_2
#define BBUMPER SENSOR_3
#define START_ALL start blue_bumper; start cara_cervena; start cara_modra;
 
int semafor;
 
task main()
{
PlaySound (SOUND_DOUBLE_BEEP);
Wait(500); // 5s podle pravidel
SetSensor(BLUE,SENSOR_LIGHT); // senzor na caru modry
SetSensor(RED,SENSOR_LIGHT); // senzor na caru cerveny
SetSensor(BBUMPER, SENSOR_TOUCH); // naraznik modry
SetSensorMode (BBUMPER, SENSOR_MODE_BOOL); // koncak bude ...
SetPower (MLEFT,OUT_FULL);
SetPower (MRIGHT,OUT_FULL);
SetDirection(MLEFT, OUT_FWD);
SetDirection(MRIGHT, OUT_FWD);
 
OnFwd (MLEFT); // cuknuti na shozeni radlic
OnFwd (MRIGHT);
Wait(50);
GoRed();
 
start red_bumper;
start blue_bumper;
start cara_cervena;
start cara_modra;
start stochastika;
}
 
task stochastika()
{
while(true) Zatoc();
}
 
 
void GoBlue()
{
OnFwd (MLEFT);
OnFwd (MRIGHT);
Wait(300); // popojed kus
Off(MLEFT);
Off(MRIGHT);
}
 
void GoRed()
{
OnRev (MLEFT);
OnRev (MRIGHT);
Wait(300); // popojed kus
Off(MLEFT);
Off(MRIGHT);
}
 
void Zatoc()
{
switch (Random(3))
{
case 0:
OnRev (MLEFT);
OnFwd (MRIGHT);
Wait(200);
break;
case 1:
OnFwd (MLEFT);
OnRev (MRIGHT);
Wait(200);
break;
case 2:
OnRev (MLEFT);
OnRev (MRIGHT);
Wait(20);
break;
case 3:
OnFwd (MLEFT);
OnFwd (MRIGHT);
Wait(20);
break;
}
}
 
task red_bumper()
{
while(true)
{
if (100 == RED) // utoc, kdyz neco narazi do narazniku
{
PlaySound (SOUND_FAST_UP);
stop stochastika;
OnRev (MLEFT);
OnRev (MRIGHT);
Wait(50);
}
}
}
 
task blue_bumper()
{
while(true)
{
if (1 == BBUMPER) // utoc, kdyz neco narazi do narazniku
{
PlaySound (SOUND_FAST_UP);
stop stochastika;
OnFwd (MLEFT);
OnFwd (MRIGHT);
Wait(50);
}
}
}
 
task cara_cervena() // hlidani natlaceni na caru
{
while(true)
{
if ((RED > THRESHOLD) && (RED < RED_WHITE))
{
Wait(2);
if ((RED > THRESHOLD) && (RED < RED_WHITE))
{
PlaySound (SOUND_DOUBLE_BEEP);
stop red_bumper;
GoBlue();
start red_bumper;
start stochastika;
}
}
}
}
 
task cara_modra() // hlidani cary
{
while(true)
{
if (BLUE < THRESHOLD) // cekej na caru
{
PlaySound (SOUND_DOUBLE_BEEP);
stop blue_bumper;
GoRed();
start blue_bumper;
start stochastika;
}
}
}
 
/roboti/istrobot/callis/sumo_zataceci3.bak
0,0 → 1,155
#define THRESHOLD 44 // rozhodovaci uroven mezi cernou a bilou
#define RED_WHITE 60 // maximum bile na cervenem senzoru
#define MLEFT OUT_A
#define MRIGHT OUT_C
#define BLUE SENSOR_1
#define RED SENSOR_2
#define BBUMPER SENSOR_3
#define START_ALL start blue_bumper; start cara_cervena; start cara_modra;
 
int semafor;
 
task main()
{
PlaySound (SOUND_DOUBLE_BEEP);
Wait(500); // 5s podle pravidel
SetSensor(BLUE,SENSOR_LIGHT); // senzor na caru modry
SetSensor(RED,SENSOR_LIGHT); // senzor na caru cerveny
SetSensor(BBUMPER, SENSOR_TOUCH); // naraznik modry
SetSensorMode (BBUMPER, SENSOR_MODE_BOOL); // koncak bude ...
SetPower (MLEFT,OUT_FULL);
SetPower (MRIGHT,OUT_FULL);
SetDirection(MLEFT, OUT_FWD);
SetDirection(MRIGHT, OUT_FWD);
 
OnFwd (MLEFT); // cuknuti na shozeni radlic
OnFwd (MRIGHT);
Wait(50);
OnRev (MLEFT);
OnRev (MRIGHT);
Wait(100); // popojed kus
Off(MLEFT);
Off(MRIGHT);
 
start red_bumper;
start blue_bumper;
start cara_cervena;
start cara_modra;
start stochastika;
}
 
task stochastika()
{
while(true) Zatoc();
}
 
 
void GoBlue()
{
OnFwd (MLEFT);
OnFwd (MRIGHT);
Wait(300); // popojed kus
Off(MLEFT);
Off(MRIGHT);
}
 
void GoRed()
{
OnRev (MLEFT);
OnRev (MRIGHT);
Wait(300); // popojed kus
Off(MLEFT);
Off(MRIGHT);
}
 
void Zatoc()
{
switch (Random(3))
{
case 0:
OnRev (MLEFT);
OnFwd (MRIGHT);
Wait(20);
break;
case 1:
OnFwd (MLEFT);
OnRev (MRIGHT);
Wait(20);
break;
case 2:
OnRev (MLEFT);
OnRev (MRIGHT);
Wait(200);
break;
case 3:
OnFwd (MLEFT);
OnFwd (MRIGHT);
Wait(200);
break;
}
}
 
task red_bumper()
{
while(true)
{
if (100 == RED) // utoc, kdyz neco narazi do narazniku
{
PlaySound (SOUND_FAST_UP);
stop stochastika;
OnRev (MLEFT);
OnRev (MRIGHT);
Wait(50);
}
}
}
 
task blue_bumper()
{
while(true)
{
if (1 == BBUMPER) // utoc, kdyz neco narazi do narazniku
{
PlaySound (SOUND_FAST_UP);
stop stochastika;
OnFwd (MLEFT);
OnFwd (MRIGHT);
Wait(50);
}
}
}
 
task cara_cervena() // hlidani natlaceni na caru
{
while(true)
{
if ((RED > THRESHOLD) && (RED < RED_WHITE))
{
Wait(2);
if ((RED > THRESHOLD) && (RED < RED_WHITE))
{
PlaySound (SOUND_DOUBLE_BEEP);
stop red_bumper;
GoBlue();
start red_bumper;
start stochastika;
}
}
}
}
 
task cara_modra() // hlidani cary
{
while(true)
{
if (BLUE < THRESHOLD) // cekej na caru
{
PlaySound (SOUND_DOUBLE_BEEP);
stop blue_bumper;
GoRed();
start blue_bumper;
start stochastika;
}
}
}
 
/roboti/istrobot/callis/sumo_zataceci3.nqc
0,0 → 1,155
#define THRESHOLD 44 // rozhodovaci uroven mezi cernou a bilou
#define RED_WHITE 60 // maximum bile na cervenem senzoru
#define MLEFT OUT_A
#define MRIGHT OUT_C
#define BLUE SENSOR_1
#define RED SENSOR_2
#define BBUMPER SENSOR_3
#define START_ALL start blue_bumper; start cara_cervena; start cara_modra;
 
int semafor;
 
task main()
{
PlaySound (SOUND_DOUBLE_BEEP);
Wait(500); // 5s podle pravidel
SetSensor(BLUE,SENSOR_LIGHT); // senzor na caru modry
SetSensor(RED,SENSOR_LIGHT); // senzor na caru cerveny
SetSensor(BBUMPER, SENSOR_TOUCH); // naraznik modry
SetSensorMode (BBUMPER, SENSOR_MODE_BOOL); // koncak bude ...
SetPower (MLEFT,OUT_FULL);
SetPower (MRIGHT,OUT_FULL);
SetDirection(MLEFT, OUT_FWD);
SetDirection(MRIGHT, OUT_FWD);
 
OnFwd (MLEFT); // cuknuti na shozeni radlic
OnFwd (MRIGHT);
Wait(50);
OnRev (MLEFT);
OnRev (MRIGHT);
Wait(100); // popojed kus
Off(MLEFT);
Off(MRIGHT);
 
start red_bumper;
start blue_bumper;
start cara_cervena;
start cara_modra;
start stochastika;
}
 
task stochastika()
{
while(true) Zatoc();
}
 
 
void GoBlue()
{
OnFwd (MLEFT);
OnFwd (MRIGHT);
Wait(300); // popojed kus
Off(MLEFT);
Off(MRIGHT);
}
 
void GoRed()
{
OnRev (MLEFT);
OnRev (MRIGHT);
Wait(300); // popojed kus
Off(MLEFT);
Off(MRIGHT);
}
 
void Zatoc()
{
switch (Random(3))
{
case 0:
OnRev (MLEFT);
OnFwd (MRIGHT);
Wait(20);
break;
case 1:
OnFwd (MLEFT);
OnRev (MRIGHT);
Wait(20);
break;
case 2:
OnRev (MLEFT);
OnRev (MRIGHT);
Wait(70);
break;
case 3:
OnFwd (MLEFT);
OnFwd (MRIGHT);
Wait(70);
break;
}
}
 
task red_bumper()
{
while(true)
{
if (100 == RED) // utoc, kdyz neco narazi do narazniku
{
PlaySound (SOUND_FAST_UP);
stop stochastika;
OnRev (MLEFT);
OnRev (MRIGHT);
Wait(50);
}
}
}
 
task blue_bumper()
{
while(true)
{
if (1 == BBUMPER) // utoc, kdyz neco narazi do narazniku
{
PlaySound (SOUND_FAST_UP);
stop stochastika;
OnFwd (MLEFT);
OnFwd (MRIGHT);
Wait(50);
}
}
}
 
task cara_cervena() // hlidani natlaceni na caru
{
while(true)
{
if ((RED > THRESHOLD) && (RED < RED_WHITE))
{
Wait(2);
if ((RED > THRESHOLD) && (RED < RED_WHITE))
{
PlaySound (SOUND_DOUBLE_BEEP);
stop red_bumper;
GoBlue();
start red_bumper;
start stochastika;
}
}
}
}
 
task cara_modra() // hlidani cary
{
while(true)
{
if (BLUE < THRESHOLD) // cekej na caru
{
PlaySound (SOUND_DOUBLE_BEEP);
stop blue_bumper;
GoRed();
start blue_bumper;
start stochastika;
}
}
}
 
/roboti/istrobot/callis/tunel.JPG
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/roboti/istrobot/callis/uxas03.jpg
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/roboti/istrobot/callis/vssver.scc
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