/ ************************************************************************* ** ** ** 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 11:11, local time: 2024/8/31 21:15,
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