imported>Zkyp at 17:48, 7 June 2011

2011-06-07T17:48:34Z

← Older revision		Revision as of 17:48, 7 June 2011
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	Is the bot that won the HiTB2011AMS hackerspaces challenge.		Is the bot that won the HiTB2011AMS hackerspaces challenge.
			http://www.randomdata.nl/blogs/node/42
			[[File:P1050218.JPG]]



	Here's the code!		Here's the code!

imported>Zkyp at 17:47, 7 June 2011

2011-06-07T17:47:06Z

← Older revision		Revision as of 17:47, 7 June 2011
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	Here's the code!		Here's the code!
			<pre>

	#define DROP_DISTANCE 25		#define DROP_DISTANCE 25
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	}		}
	}		}
			</pre>

imported>Zkyp: Created page with "Roambot Is the bot that won the HiTB2011AMS hackerspaces challenge. Here's the code! #define DROP_DISTANCE 25 task main() { SetSensorLight(IN_1); SetSensorLight(IN_..."

2011-06-07T17:44:14Z

Created page with "Roambot Is the bot that won the HiTB2011AMS hackerspaces challenge. Here's the code! #define DROP_DISTANCE 25 task main() { SetSensorLight(IN_1); SetSensorLight(IN_..."

New page

Roambot

Is the bot that won the HiTB2011AMS hackerspaces challenge.

Here's the code!

#define DROP_DISTANCE 25

task main()
{
SetSensorLight(IN_1);
SetSensorLight(IN_2);
SetSensorType(IN_1,IN_TYPE_LIGHT_INACTIVE);
SetSensorType(IN_2,IN_TYPE_LIGHT_INACTIVE);
SetSensorMode(IN_1,SENSOR_MODE_PERCENT);
SetSensorMode(IN_2,SENSOR_MODE_PERCENT);

SetSensorLowspeed(IN_3);
SetSensorTouch(IN_4);

int lightambient = 100;
int lighttreshold = 75;
for (int i = 0; i < 3; i++)
{
PlayTone(440, 100);
Wait(1000);
}

int bouncecounter = 0;
int lightsource = 0;

OnFwd(OUT_A, 40);
OnRev(OUT_B, 40);
for (int i = 0; i < 20; i++)
{
if (Sensor(IN_1) < lightambient) lightambient = Sensor(IN_1);
if (Sensor(IN_2) < lightambient) lightambient = Sensor(IN_2);
if (Sensor(IN_1) > lightsource) lightsource = Sensor(IN_1);
if (Sensor(IN_2) > lightsource) lightsource = Sensor(IN_2);
PlayTone(440, 20);
Wait(100);
}
Off(OUT_AB);
lighttreshold = 5 + (lightambient + lightsource) / 2;

PlayTone(784, 125);
Wait(150);
PlayTone(660, 125);
Wait(150);
PlayTone(660, 275);
Wait(300);
PlayTone(588, 125);
Wait(150);
PlayTone(660, 125);
Wait(150);
PlayTone(784, 125);

OnFwd(OUT_C, 50);

while(1)
{
ClearScreen();
NumOut(1, 20, SensorUS(IN_3));
//NumOut(1, 30, Sensor(IN_4));
NumOut(1, 40, lighttreshold);
NumOut(1, 50, lightambient);

if (Sensor(IN_4) || SensorUS(IN_3) > DROP_DISTANCE)
{
OnFwd(OUT_AB, 30);
Wait(1000);
bouncecounter++;
if (bouncecounter == 10)
{
bouncecounter = 0;
lightambient = 100;
lightsource = 0;
OnFwd(OUT_A, 40);
OnRev(OUT_B, 40);
for (int i = 0; i < 20; i++)
{
if (Sensor(IN_1) < lightambient) lightambient = Sensor(IN_1);
if (Sensor(IN_2) < lightambient) lightambient = Sensor(IN_2);
if (Sensor(IN_1) > lightsource) lightsource = Sensor(IN_1);
if (Sensor(IN_2) > lightsource) lightsource = Sensor(IN_2);
PlayTone(440, 20);
Wait(100);
}
Off(OUT_AB);
lighttreshold = 5 + (lightambient + lightsource) / 2;
}
}
else
{

int x1 = SENSOR_1;
int x2 = SENSOR_2;
NumOut(1, 1, x1);
NumOut(1, 10, x2);
if ((x1 < lighttreshold) && (x2 < lighttreshold))
{
TextOut(1,20,"A");
OnRev(OUT_A, 75);
OnFwd(OUT_B, 75);
}
else if (x1 < lighttreshold)
{
TextOut(1,20,"D");
int d1 = x2 - x1;
OnRev(OUT_A, 50 - d1);
OnRev(OUT_B, 60);
}
else if (x2 < lighttreshold)
{
TextOut(1,20,"C");
int d1 = x1 - x2;
OnRev(OUT_B, 50 - d1);
OnRev(OUT_A, 60);
}
else
{
TextOut(1,20,"B");
OnRev(OUT_AB, 75);
}
}
}
}

Roambot - Revision history

imported>Zkyp at 17:48, 7 June 2011

imported>Zkyp at 17:47, 7 June 2011

imported>Zkyp: Created page with "Roambot Is the bot that won the HiTB2011AMS hackerspaces challenge. Here's the code! #define DROP_DISTANCE 25 task main() { SetSensorLight(IN_1); SetSensorLight(IN_..."