Subject:
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Re: Spybot studies: seek a world object
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Newsgroups:
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lugnet.robotics.spybotics
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Date:
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Sun, 25 Sep 2005 19:17:29 GMT
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Viewed:
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9448 times
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In lugnet.robotics.spybotics, Brian B. Alano wrote:
> /*
> beacon.nqc
>
> Uses World Relation Table to get a fix on and drive to another object.
> The object can be a Spybot, PC, or Spybot Controller.
>
> The program fixes on (i.e. drives to) the first object it finds. If that
> object disappears from the "radar", it will fix on the next one. The
> program exits when none are in range.
>
> Functions illustrated:
> ClearWorld()
> FindWorld([WorldIndex], SPY_RANGE, REL_GT, RANGE_NOWHERE)
> SetTargetID([WorldIndex])
> Target(SPY_RANGE)
> Target(SPY_DIRECTION)
>
> Thoughts and discoveries.
> 1. The Spybot suffers from the same ills that most two-eared creatures do,
> it can't tell whether an object is ahead left or behind right. This
> leads it to go in the opposite direction that it should sometimes. There's a
> word for this phenomenon, but I can't recall it.
>
> 2. I only registered LEFT_OF_CENTER and RIGHT_OF_CENTER when the
> object was also in RANGE_HERE.
>
> 3. This program usually failed to fix acurately on a second target
> after the initial target went to RANGE_NOWHERE.
>
> 4. There's probably a ROM routine that does the same thing as this
> program, but it may not be useful from NQC.
>
> Uses spy.nqh by John Hansen released 22 Oct 2003. See
> http://news.lugnet.com/robotics/spybotics/?n=235
>
> * The contents of this file are subject to the Mozilla Public License
> * Version 1.0 (the "License"); you may not use this file except in
> * compliance with the License. You may obtain a copy of the License at
> * http://www.mozilla.org/MPL/
>
> */
>
> #include "spy.nqh"
>
> // Convenience macros for my particular 'bot.
> #define FWD(x) OnRev(x)
> #define REV(x) OnFwd(x)
> #define OUT_LEFT OUT_B
> #define OUT_RIGHT OUT_A
>
> task main()
> {
> int t = -1; // our index into the World Relation Table
> int x; // temp var
> int range; // range to the current target
> int state = 0; // used for displaying SHORT_ID and RANGE on LEDs
> ClearWorld(); // empty the World Relation Table
> // wait for pings to be recieved.
> // I think this wait could be smaller, but I don't know by how much.
> // Probably something like 2x the default ping interval is enough.
> Wait(100);
> // FindWorld sets t to the next valid index in the World Relation Table
> // or to -1 if there are no more entries.
> FindWorld(t, SPY_RANGE, REL_GT, RANGE_NOWHERE);
> while (t != -1)
> {
> // By using SetTargetID, we can use the Target() convenience methods
> // for accessing the properities of the device.
> SetTargetID(t);
> x = Target(SPY_SHORTID);
> // put ID of the current target in red LEDs
> state = x & 0x7;
> SetLED(LED_MODE_ON, state);
> // Insure object is still in range before assuming other values are
> good.
> range = Target(SPY_RANGE);
> while (range != RANGE_NOWHERE) {
> x = Target(SPY_DIRECTION);
> // put direction on green LEDs
> state = (state & 0x7) | ((x & 0x7) << 3) ;
> SetLED(LED_MODE_ON, state);
>
> if (range == RANGE_HERE) { // we made it!
> Off(OUT_A+OUT_B);
> } else {
> // Turn and move toward the target
> switch (x) {
> case DIRECTION_LEFT:
> REV(OUT_LEFT);
> FWD(OUT_RIGHT);
> break;
> case DIRECTION_LEFT_OF_CENTER:
> Float(OUT_LEFT);
> FWD(OUT_RIGHT);
> break;
> case DIRECTION_CENTER:
> FWD(OUT_LEFT+OUT_RIGHT);
> break;
> case DIRECTION_RIGHT:
> REV(OUT_RIGHT);
> FWD(OUT_LEFT);
> break;
> case DIRECTION_RIGHT_OF_CENTER:
> Float(OUT_RIGHT);
> FWD(OUT_LEFT);
> break;
> default:
> // should never get here
> PlaySound(SOUND_LOW_BEEP);
> } // end switch
> } // end if range
> range = Target(SPY_RANGE); // update the range to the target
> } // end while in range
> // If we're here, it means our current target moved to RANGE_NOWHERE
> // so we need to acquire a new target.
> FindWorld(t, SPY_RANGE, REL_GT, RANGE_NOWHERE);
> } // end while
>
> }
Well We are trying to get Spybotics following an IR emitting Ball.. This ball
will be emitting the same data as the Controller does on blinking mode..
But somehow the program above (as said before) Will not work propperly and send
the spybot as well away as to the ball because it has some problem to determine
where the signal comes from..
Somehow Lego did manage that good.. Because if i take the default programm in
the Spybotic that can indicte and find the 'beacon' (controller) It can find it
perfectly without very much problems...
Maybe Lego is also using the IR sensor that is stcked in behind to determen if
it comes from the front or from the right...
Is somebody intrested to help us out to get a more stable program that will find
the beacon in 98% of the time???
Many thanks in advanced,
Daniel Wittenaar
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Message has 1 Reply:
 | | Re: Spybot studies: seek a world object
|
| (...) 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 (...) (19 years ago, 1-Oct-05, to lugnet.robotics.spybotics)
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Message is in Reply To:
| | Spybot studies: seek a world object
|
| /* beacon.nqc Uses World Relation Table to get a fix on and drive to another object. The object can be a Spybot, PC, or Spybot Controller. The program fixes on (i.e. drives to) the first object it finds. If that object disappears from the "radar", (...) (21 years ago, 10-Nov-03, to lugnet.robotics.spybotics)
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