root/branches/livecd/RWTHMindstormsNXT/doc/examples/Example_4_DriveUntilWall.html @ 465

Revision 465, 6.0 KB (checked in by behrens, 5 years ago)

NXTmotor: remove "silent toggling" and move adaptive default settings in constructor
SendToNXT: add warning of ignoring Speedregulation in the case of MultipleMotorPorts?, disabled brakeAtTachoLimit=0 warning, add missing %
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12      <title>Example 4: Drive Until Wall</title>
13      <meta name="generator" content="MATLAB 7.7">
14      <meta name="date" content="2008-11-05">
15      <meta name="m-file" content="Example_4_DriveUntilWall">
16<link type="text/css" rel="stylesheet" href="../style.css">
17  </head>
18   <body>
19<p class="header">RWTH - Mindstorms NXT Toolbox</p>
20      <div class="content">
21         <h1>Example 4: Drive Until Wall</h1>
22         <!--introduction-->
23         <p>In this little demo our robot drives forward until it detects a wall.</p>
24         <!--/introduction-->
25         <h2>Contents</h2>
26         <div>
27            <ul>
28               <li><a href="#1">Matlab</a></li>
29               <li><a href="#2">Constants</a></li>
30               <li><a href="#3">Initialize NXT connection</a></li>
31               <li><a href="#4">Reset Motor / remember start position</a></li>
32               <li><a href="#5">Prepare sensor</a></li>
33               <li><a href="#6">And GO!</a></li>
34               <li><a href="#7">Detect wall (sensor loop)</a></li>
35               <li><a href="#8">Immediately stop all motors!</a></li>
36               <li><a href="#9">Signal</a></li>
37               <li><a href="#10">Drive back home!</a></li>
38               <li><a href="#11">Wait until there</a></li>
39               <li><a href="#12">clean up</a></li>
40               <li><a href="#13">Close NXT connection</a></li>
41            </ul>
42         </div>
43         <h2>Matlab<a name="1"></a></h2><pre class="codeinput">clear <span class="string">all</span>
44close <span class="string">all</span>
45</pre><h2>Constants<a name="2"></a></h2><pre class="codeinput">MaxDriveTime = 30; <span class="comment">% in seconds, stop after this time...</span>
46USPort       = SENSOR_4;
47</pre><h2>Initialize NXT connection<a name="3"></a></h2><pre class="codeinput">handle = COM_OpenNXT(<span class="string">'bluetooth.ini'</span>, <span class="string">'check'</span>);
48COM_SetDefaultNXT(handle);
49</pre><h2>Reset Motor / remember start position<a name="4"></a></h2><pre class="codeinput">ResetMotorAngle(MOTOR_B);
50ResetMotorAngle(MOTOR_C);
51StartPos = GetMotorSettings(MOTOR_B);
52</pre><h2>Prepare sensor<a name="5"></a></h2><pre class="codeinput">OpenUltrasonic(USPort)
53</pre><h2>And GO!<a name="6"></a></h2><pre class="codeinput">SetMotor(MOTOR_B);
54    SyncToMotor(MOTOR_C);
55    SetPower(60);
56    SetAngleLimit(0);
57    SetTurnRatio(0);
58    SetRampMode (<span class="string">'off'</span>);
59SendMotorSettings();
60</pre><h2>Detect wall (sensor loop)<a name="7"></a></h2><pre class="codeinput">tictic(1);
61<span class="keyword">while</span>(toctoc(1) &lt; MaxDriveTime)
62   <span class="keyword">if</span> GetUltrasonic(USPort) &lt; 30
63       <span class="keyword">break</span>
64   <span class="keyword">end</span><span class="comment">%if</span>
65<span class="keyword">end</span><span class="comment">%while</span>
66</pre><h2>Immediately stop all motors!<a name="8"></a></h2><pre class="codeinput">StopMotor(<span class="string">'all'</span>, <span class="string">'off'</span>);
67<span class="comment">% but where are we now?</span>
68CurPos = GetMotorSettings(MOTOR_B);
69</pre><h2>Signal<a name="9"></a></h2><pre class="codeinput">NXT_PlayTone(440, 1000);
70</pre><h2>Drive back home!<a name="10"></a></h2>
71         <p>To try to understand what exactly the different rotation count values mean, we compare them just for fun</p><pre class="codeinput">TotalAbsDist = StartPos.TachoCount - CurPos.TachoCount;
72Dist         = CurPos.Angle;
73
74SetMotor(MOTOR_B);
75    SyncToMotor(MOTOR_C);
76    SetPower(-60);
77    SetAngleLimit(abs(Dist));
78SendMotorSettings();
79</pre><h2>Wait until there<a name="11"></a></h2><pre class="codeinput">WaitForMotor(1, MaxDriveTime);
80
81<span class="comment">% brake</span>
82StopMotor(<span class="string">'all'</span>, <span class="string">'brake'</span>);
83
84pause(1);
85</pre><h2>clean up<a name="12"></a></h2><pre class="codeinput">CloseSensor(SENSOR_4)
86StopMotor (<span class="string">'all'</span>, <span class="string">'off'</span>);
87</pre><h2>Close NXT connection<a name="13"></a></h2><pre class="codeinput">COM_CloseNXT(handle);
88</pre><p class="footer"><br>
89            Published with MATLAB&reg; 7.7<br></p>
90      </div>
91      <!--
92##### SOURCE BEGIN #####
93%% Example 4: Drive Until Wall
94% In this little demo our robot drives forward until it detects a wall.
95
96%% Matlab
97clear all
98close all
99
100
101%% Constants
102MaxDriveTime = 30; % in seconds, stop after this time...
103USPort       = SENSOR_4;
104
105
106%% Initialize NXT connection
107handle = COM_OpenNXT('bluetooth.ini', 'check');
108COM_SetDefaultNXT(handle);
109
110
111%% Reset Motor / remember start position
112ResetMotorAngle(MOTOR_B);
113ResetMotorAngle(MOTOR_C);
114StartPos = GetMotorSettings(MOTOR_B);
115
116
117%% Prepare sensor
118OpenUltrasonic(USPort)
119
120
121%% And GO!
122
123SetMotor(MOTOR_B);
124    SyncToMotor(MOTOR_C);
125    SetPower(60);
126    SetAngleLimit(0);
127    SetTurnRatio(0);
128    SetRampMode ('off');
129SendMotorSettings();
130
131
132%% Detect wall (sensor loop)
133tictic(1);
134while(toctoc(1) < MaxDriveTime)
135   if GetUltrasonic(USPort) < 30
136       break
137   end%if
138end%while
139
140
141%% Immediately stop all motors!
142StopMotor('all', 'off');
143% but where are we now?
144CurPos = GetMotorSettings(MOTOR_B);
145
146
147%% Signal
148NXT_PlayTone(440, 1000);
149
150
151%% Drive back home!
152% To try to understand what exactly the different rotation count values
153% mean, we compare them just for fun
154TotalAbsDist = StartPos.TachoCount - CurPos.TachoCount;
155Dist         = CurPos.Angle;
156
157SetMotor(MOTOR_B);
158    SyncToMotor(MOTOR_C);
159    SetPower(-60);
160    SetAngleLimit(abs(Dist));
161SendMotorSettings();
162
163
164%% Wait until there
165WaitForMotor(1, MaxDriveTime);
166
167% brake
168StopMotor('all', 'brake');
169
170pause(1);
171
172%% clean up
173CloseSensor(SENSOR_4)
174StopMotor ('all', 'off');
175
176
177%% Close NXT connection
178COM_CloseNXT(handle);
179
180##### SOURCE END #####
181-->
182   </body>
183</html>
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