Changes between Version 20 and Version 21 of Preview

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12/30/11 17:22:51 (17 months ago)
Author:
behrens
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    v20 v21  
    110110{{{ 
    111111#!html 
    112 <h2>Clear and close<a name="2"></a></h2><pre class="codeinput">COM_CloseNXT <span style="color: #A020F0">all</span> 
     112<h2>Clear and close<a name="2"></a></h2> 
     113<pre style="background: #EEEEEE; padding: 10px;">COM_CloseNXT <span style="color: #A020F0">all</span> 
    113114clear <span style="color: #A020F0">all</span> 
    114115close <span style="color: #A020F0">all</span> 
    115 </pre><h2>Constants and so on<a name="3"></a></h2><pre class="codeinput">TableLength      = 1000;     <span style="color: #228B22">% in degrees of motor rotations :-)</span> 
     116 
     117<h3>Constants and so on</h3> 
     118TableLength      = 1000;     <span style="color: #228B22">% in degrees of motor rotations :-)</span> 
    116119QuarterTurnTicks = 219;      <span style="color: #228B22">% in motor degrees, how much is a 90&deg; turn of the bot?</span> 
    117120Ports = [MOTOR_B; MOTOR_C];  <span style="color: #228B22">% motorports for left and right wheel</span> 
    118121DrivingSpeed     = 60; 
    119122TurningSpeed     = 40; 
    120 </pre><h2>Open Bluetooth connetion<a name="4"></a></h2><pre class="codeinput">h = COM_OpenNXT(<span style="color: #A020F0">'bluetooth.ini'</span>); 
     123 
     124<h3>Open Bluetooth connetion</h3> 
     125h = COM_OpenNXT(<span style="color: #A020F0">'bluetooth.ini'</span>); 
    121126COM_SetDefaultNXT(h); 
    122 </pre><h2>Initialize motor-objects:<a name="5"></a></h2><pre class="codeinput">mStraight                   = NXTMotor(Ports); 
     127 
     128<h3>Initialize motor-objects:</h3> 
     129mStraight                   = NXTMotor(Ports); 
    123130<span style="color: #228B22">% next command since we are driving in SYNC-mode. This should not be</span> 
    124131<span style="color: #228B22">% necessary with correct default values, but at the moment, I have to set</span> 
    … …  
    140147mTurn2.Port     = Ports(1);   <span style="color: #228B22">% ports swapped again...</span> 
    141148mTurn2.Power    = - mTurn1.Power; 
    142 </pre><h2>Initialize Motors...<a name="6"></a></h2><p>we send this in case they should still be spinning or something...</p><pre class="codeinput">mStraight.Stop(<span style="color: #A020F0">'off'</span>); 
    143 </pre><h2>Start the engines, main loop begins (repeated 4 times)<a name="7"></a></h2><pre class="codeinput"><span style="color: #228B22">% 4 times because we got 4 equal sides of the table :-)</span> 
     149 
     150<h3>Initialize Motors...</h3><span style="color: #228B22">% we send this in case they should still be spinning or something...</span> 
     151mStraight.Stop(<span style="color: #A020F0">'off'</span>); 
     152<h3>Start the engines, main loop begins (repeated 4 times)</h3> 
     153<span style="color: #228B22">% 4 times because we got 4 equal sides of the table :-)</span> 
    144154<span class="keyword">for</span> j = 1 : 4 
    145 </pre><h2>Drive<a name="9"></a></h2><pre class="codeinput">    mStraight.SendToNXT(); 
    146 </pre><h2>Wait for the end end of table<a name="10"></a></h2><pre class="codeinput">    mStraight.WaitFor(); 
    147 </pre><h2>Now please turn<a name="11"></a></h2><pre class="codeinput">    mTurn1.SendToNXT(); 
     155 
     156<h3>Drive</h3>    mStraight.SendToNXT(); 
     157<h3>Wait for the end end of table</h3>    mStraight.WaitFor(); 
     158<h3>Now please turn</h3>    mTurn1.SendToNXT(); 
    148159    mTurn1.WaitFor(); 
    149160 
    150161    mTurn2.SendToNXT(); 
    151162    mTurn2.WaitFor(); 
    152 </pre><h2>Thats it. Repeat 4 times....<a name="12"></a></h2><pre class="codeinput"><span class="keyword">end</span><span style="color: #228B22">%for</span> 
    153 </pre><h2>Done.<a name="14"></a></h2><p>Hey! End of a hard day's work Just to show good style, we close down our motors again:</p><pre class="codeinput">mStraight.Stop(<span style="color: #A020F0">'off'</span>); 
    154 </pre><h2>Close Bluetooth connection<a name="15"></a></h2><pre class="codeinput">COM_CloseNXT(h); 
     163<h3>Thats it. Repeat 4 times....</h3><span class="keyword">end</span><span style="color: #228B22">%for</span> 
     164<h3>Done.</h3><span style="color: #228B22">% Hey! End of a hard day's work Just to show good style, we close down our motors again:</span> 
     165mStraight.Stop(<span style="color: #A020F0">'off'</span>); 
     166<h3>Close Bluetooth connection</h3>COM_CloseNXT(h); 
    155167</pre><p style="text-align: right; 
    156168  font-size: xx-small; font-weight: lighter; font-style: italic; color: gray;"><br>