IO Robot Bumper.c
/ *************************************************************************
** **
** Main: Simple bumper car **
** **
*************************************************************************/
#include "legocore.h"
#define LEFT_MOTOR OUT_CHAN0
#define RIGHT_MOTOR OUT_CHAN1
#define LEFT_BUMPER IN_CHAN1
#define RIGHT_BUMPER IN_CHAN0
WaitSecond(unsigned char Num)
{
unsigned char i;
for(i=0;i<Num;i++){
Waitms(1000);
}
}
main()
{
unsigned char Speed = 128;
unsigned int HitFree = 0;
int i;
LegoInit();
SetOutputValue(OUT_ALL_CHAN, 0);
SetForward(LEFT_MOTOR | RIGHT_MOTOR);
SetOutputValue(LEFT_MOTOR|RIGHT_MOTOR,Speed);
Waitms(200);
while(1){
if(GetInput(RIGHT_BUMPER) < 128){ /* Button pressed */
Speed = 128;
SetBrake(LEFT_MOTOR|RIGHT_MOTOR);
WaitSecond(1);
SetReverse(LEFT_MOTOR|RIGHT_MOTOR);
SetOutputValue(LEFT_MOTOR|RIGHT_MOTOR,Speed);
Waitms(500);
SetForward(RIGHT_MOTOR); // Turn Left
Waitms(500);
SetFloat(LEFT_MOTOR|RIGHT_MOTOR);
Waitms(250);
SetForward(LEFT_MOTOR);
SetOutputValue(LEFT_MOTOR|RIGHT_MOTOR,Speed);
HitFree = 0;
}
if(GetInput(LEFT_BUMPER) < 128){ /* Button pressed */
Speed = 128;
SetBrake(LEFT_MOTOR|RIGHT_MOTOR);
WaitSecond(1);
SetReverse(LEFT_MOTOR|RIGHT_MOTOR);
SetOutputValue(LEFT_MOTOR|RIGHT_MOTOR,Speed);
Waitms(750);
SetForward(LEFT_MOTOR); // Turn Right
Waitms(1250);
SetFloat(LEFT_MOTOR|RIGHT_MOTOR);
Waitms(150);
SetForward(RIGHT_MOTOR);
SetOutputValue(LEFT_MOTOR|RIGHT_MOTOR,Speed);
HitFree = 0;
}
Waitms(50);
HitFree++;
if(HitFree>100){ // 5 seconds
Speed = 255;
SetOutputValue(LEFT_MOTOR|RIGHT_MOTOR,Speed);
}
if(HitFree>200){ // 10 seconds
SetFloat(LEFT_MOTOR|RIGHT_MOTOR);
WaitSecond(3);
SetReverse(RIGHT_MOTOR);
SetForward(LEFT_MOTOR); // Turn Right
Speed = 10;
for(i=0;i<50;i++){
SetOutputValue(LEFT_MOTOR|RIGHT_MOTOR,Speed);
Waitms(80);
if(Speed<230)
Speed += 10;
else
Speed = 255;
}
SetFloat(LEFT_MOTOR|RIGHT_MOTOR);
Waitms(1500);
SetForward(RIGHT_MOTOR);
Speed = 128;
SetOutputValue(LEFT_MOTOR|RIGHT_MOTOR,Speed);
HitFree = 0;
}
}
}
file: /Techref/io/robot/Bumper.c, 2KB, , updated: 2003/9/10 10:11, local time: 2024/12/25 11:51,
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