| /programy/Lego/IstRobot2005.nqc |
|---|
| 0,0 → 1,118 |
| // Robot na MiniSumo pro Model Hobby 2004 |
| // $Archive: /Lego/Matador/ModelHobby2004.nqc $ |
| // $Date: 16.03.05 10:47 $ |
| // $Revision: 1 $ |
| #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; |
| } |
| } |
| /programy/Lego/ModelHobby2004.nqc |
|---|
| 0,0 → 1,118 |
| // Robot na MiniSumo pro Model Hobby 2004 |
| // $Archive: /Lego/Matador/ModelHobby2004.nqc $ |
| // $Date: 16.03.05 10:47 $ |
| // $Revision: 1 $ |
| #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; |
| } |
| } |