Scribd Logo
Upload

Welcome to Scribd!

  • Laberinto Cod RobotC

    Uploaded by

    Douglas Medrano
    11 views2 pages
    The document contains code for configuring sensors and motors on a robot and defining functions to move the robot a distance and turn the robot by a given angle. It configures four sensors - collision, gyroscope, light, and sonar and three motors - claw, right wheel, and left wheel. It defines functions to move the robot a distance at a given speed and turn the robot by a given angle at a given speed using the gyroscope sensor feedback. The main task calls the functions to move and turn the robot in a square pattern.

    Original Description:

    RobotC

    Copyright

    © © All Rights Reserved

    Available Formats

    DOCX, PDF, TXT or read online from Scribd

    Did you find this document useful?

    Is this content inappropriate?

    Report this Document
    The document contains code for configuring sensors and motors on a robot and defining functions to move the robot a distance and turn the robot by a given angle. It configures four sensors - collision, gyroscope, light, and sonar and three motors - claw, right wheel, and left wheel. It defines functions to move the robot a distance at a given speed and turn the robot by a given angle at a given speed using the gyroscope sensor feedback. The main task calls the functions to move and turn the robot in a square pattern.

    Copyright:

    © All Rights Reserved
    Download as DOCX, PDF, TXT or read online from Scribd
    Flag for inappropriate content
    Download as docx, pdf, or txt
    11 views2 pages

    Laberinto Cod RobotC

    Uploaded by

    Douglas Medrano
    The document contains code for configuring sensors and motors on a robot and defining functions to move the robot a distance and turn the robot by a given angle. It configures four sensors - collision, gyroscope, light, and sonar and three motors - claw, right wheel, and left wheel. It defines functions to move the robot a distance at a given speed and turn the robot by a given angle at a given speed using the gyroscope sensor feedback. The main task calls the functions to move and turn the robot in a square pattern.

    Copyright:

    © All Rights Reserved
    Download as DOCX, PDF, TXT or read online from Scribd
    Flag for inappropriate content
    Download as docx, pdf, or txt
    of 2

    #pragma config(Sensor, S1,  

      Colision,       sensorTouch)
    #pragma config(Sensor, S2,     Giroscopio,     sensorI2CHiTechnicGyro)
    #pragma config(Sensor, S3,     Luz,            sensorLightActive)
    #pragma config(Sensor, S4,     Ultrasonido,    sensorSONAR)
    #pragma config(Motor,  motorA,          Garra,         tmotorNXT,
    PIDControl, encoder)
    #pragma config(Motor,  motorB,          MotorDer,      tmotorNXT,
    PIDControl, driveRight, encoder)
    #pragma config(Motor,  motorC,          MotorIzq,      tmotorNXT,
    PIDControl, driveLeft, encoder)

    void mover_distancia(float distancia, int velocidad=50)


    {
    nMotorEncoder[MotorDer]=0;
    nMotorEncoder[MotorIzq]=0;
    nMotorPIDSpeedCtrl[MotorDer] = mtrSpeedReg;
      nSyncedMotors = synchBC;
      nSyncedTurnRatio = 100;
      float recorrido=0;
      motor[MotorDer] = velocidad;
      while (recorrido<distancia)
      {
              recorrido=(nMotorEncoder[MotorDer]*2*PI*2.74)/360;
      }
      motor[MotorDer] =0;
    motor[MotorIzq] =0;
    }
    ///  angulo >0  -> giro horario -> derecha
    ///  angulo <0  -> giro antihorario -> izquierda
    void girar(int angulo,int velocidad=20)
    {
    int anterior=SensorValue(Giroscopio);
    int angulo1=angulo;
      nMotorPIDSpeedCtrl[MotorDer] = mtrSpeedReg;
      nSyncedMotors = synchBC;
      nSyncedTurnRatio = -100;
      int grados=0;
      angulo=angulo*10;
      anterior=anterior+angulo;
      angulo=anterior;
      if(angulo1>=0)// sentido horario
      {
               motor[MotorDer] = -velocidad;
               grados=SensorValue(Giroscopio);
               while (grados<angulo)
               {
                 grados=SensorValue(Giroscopio);
               }
               motor[MotorDer] = 0;
               motor[MotorIzq] = 0;
               return;
      }
      else  // sentido antihorario
      {
              motor[MotorDer] = velocidad;
              grados=SensorValue(Giroscopio);
               while (grados>angulo)
               {
                 grados=SensorValue(Giroscopio);
               }
               motor[MotorDer] = 0;
               motor[MotorIzq] = 0;
               return;
      }
    }

    task main()
    {
    mover_distancia(70,60);
    girar(-75,60);
    mover_distancia(70,60);
    girar(80,60);
    mover_distancia(70,60);
    girar(80,60);
    mover_distancia(30,60);
    }

    You might also like