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On Tue, October 18, 2005 5:05 am, Allen Benter wrote:
> perhaps you can help me with the directional capabilities. I have attached a
> copy of my code below.
>
> I am reading the direction to another spybot/beacon and putting it through a
> simple least squares adjustment. I find over short distance (HERE and maybe
> THERE) I can get very good directions with as little as 5 consecutive sensor
> readings. But when I extend this beyond the there zone (about 1m/3ft) I find
> the spybot always reports direction as CENTER.
I can't find it right now, but I thought I read somewhere that if the direction is
"anywhere", it will not have a direction. I believe that's consistant with what
you're seeing.
Steve
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Sorry,
I forgot to mention I am using nqc 3.1r4
Allen
In lugnet.robotics.spybotics, Allen Benter wrote:
> John,
>
> perhaps you can help me with the directional capabilities. I have attached a
> copy of my code below.
>
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John,
perhaps you can help me with the directional capabilities. I have attached a
copy of my code below.
I am reading the direction to another spybot/beacon and putting it through a
simple least squares adjustment. I find over short distance (HERE and maybe
THERE) I can get very good directions with as little as 5 consecutive sensor
readings. But when I extend this beyond the there zone (about 1m/3ft) I find
the spybot always reports direction as CENTER.
Do you get different results? I have 4 beacons and 5 spybots, and basically get
the same results each time. The batteries I am using are NiMH and fully
charged. The beacon light appears strong (if that is any indication of battery
strength).
I have wondered how much my floor type & room size affects the IR sensor.
Any tips you have on the IR sensor readings would be very much appreciated.
Cheers,
Allen
#pragma reserve 0 20
#define sum_x (@12)
#define sum_y (@13)
#define sum_x_2 (@14)
#define sum_xy (@15)
#define intercept (@16)
#define updated (@17)
task main()
{
int spy_direction;
int TARGET;
sum_x = 0;
sum_y = 0;
sum_xy = 0;
sum_x_2 = 0;
start display;
SetPingInterval(1);
ClearCounter(0);
spy_direction = 0;
TARGET = -1;
ClearWorld();
Wait(500);
FindWorld(TARGET, SPY_RANGE, REL_GT, RANGE_NOWHERE);
while(TARGET < 0)
FindWorld(TARGET, SPY_RANGE, REL_GT, RANGE_NOWHERE);
SetTargetID(TARGET);
while(true)
{
//PlaySound(SOUND_CLICK);
spy_direction = Target(SPY_DIRECTION);
if(spy_direction > -1 && spy_direction < 5)
{
IncCounter(0);
sum_x_2 = sum_x_2 + Counter(0)*Counter(0);
sum_x = sum_x + Counter(0);
sum_xy = sum_xy + Counter(0) * spy_direction;
sum_y = sum_y + spy_direction;
least_square();
}
//Wait(50);
if(sum_x_2 > 25000)
{
sum_x = 0;
sum_y = 0;
sum_xy = 0;
sum_x_2 = 0;
ClearCounter(0);
//PlaySound(SOUND_DOUBLE_BEEP);
}
}
}
task display()
{
int state;
while(true)
{
// put direction on green LEDs & distance on red LEDs
//state = (spy_distance & 0x7) | ((avg_dir & 0x7) << 3) ;
until(updated);
SetLED(LED_MODE_ON, intercept);
}
}
void least_square()
{
int ssx;
int ssxy;
int b1;
updated = false;
ssx = sum_x_2 - ((sum_x * sum_x)/Counter(0));
ssxy = sum_xy - ((sum_x * sum_y)/Counter(0));
b1 = ssxy / ssx;
intercept = (sum_y / Counter(0)) - (b1 * (sum_x / Counter(0)));
updated = true;
}
In lugnet.robotics.spybotics, John Hansen wrote:
> In lugnet.robotics.spybotics, Daniel Wittenaar wrote:
> > In lugnet.robotics.spybotics, Daniel Wittenaar wrote:
> > > In lugnet.robotics.spybotics, Brian B. Alano wrote:
> > > > /*
> > > > beacon.nqc <<
>
> There was a bug in the code generated by NQC for the find opcode prior to
> version 3.1r2. If you are using a version of NQC older than 3.1r2 then that
> *might* explain why Brian's beacon.nqc program fails to work sometimes.
>
>
> John Hansen
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In lugnet.robotics.spybotics, John Hansen wrote:
> There was a bug in the code generated by NQC for the find opcode prior to
> version 3.1r2. If you are using a version of NQC older than 3.1r2 then that
> *might* explain why Brian's beacon.nqc program fails to work sometimes.
>
> I will try to find a copy of the MindScript code for the default program and
> port it to NQC if possible for you.
I have found a copy of the MindScript code for the default program (sort of) and
I have ported it to NQC.
Here's the default program in MindScript:
program SpybotDefaultProgram
{
main
{
start 0
}
}
And here is its NQC equivalent:
#pragma noinit
task main()
{
StartTask(0);
}
Unfortunately, these programs don't help much since all either one does is start
Task 0 in the Spybot ROM. It is possible if you are really clever to write an
NQC program which cooperates with the built-in ROM tasks and subroutines. But
it is not an easy road to take and may not be possible given the specific
requirements of your robot.
John Hansen
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In lugnet.robotics.spybotics, Daniel Wittenaar wrote:
> In lugnet.robotics.spybotics, Daniel Wittenaar wrote:
> > In lugnet.robotics.spybotics, Brian B. Alano wrote:
> > > /*
> > > beacon.nqc <<
>
> Nobody who can help us out on this one?? I'm looking for the NQC comando's that
> can control (readout) the sensor on the rear of the spybot.. This can be used as
> told above to determen if the beacon is in front of the spybot.. Or behind the
> spybot.. That all to give the spybot a better left right sense..
>
> The sensor that is in the back is SENSOR_2 And can be used for IR comunication
> trough air.. But i'm not pretty sure how to put things together..
There was a bug in the code generated by NQC for the find opcode prior to
version 3.1r2. If you are using a version of NQC older than 3.1r2 then that
*might* explain why Brian's beacon.nqc program fails to work sometimes.
I will try to find a copy of the MindScript code for the default program and
port it to NQC if possible for you.
John Hansen
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