Drunken tribot v2
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Latest revision as of 20:49, 14 October 2011
/* learning NXC with Lola
THE MARCH OF THE DRUNKEN TRIBOT v2
Simple escape-the-room by bumper programme with Random Moves. */
#define TIME_MOVE 1000 // time used to rethink the situation, backing off...
task main() // start of real code
{
repeat(4) // Say, we bump 4 times & then we stop
{
SetSensor(IN_1,SENSOR_TOUCH); // We'll need the Touch Sensor in Port 1, OK?
do // do the following until...
{
OnFwd(OUT_AC, 50); // Forward 50%
Wait(Random(1000)+500); // For a random amount of time + 1000 (gives a minimal value)
OnRev(OUT_A, Random(90)); // turn away by reversing engine A random between 0 & 90
OnRev(OUT_C, Random(90)); // Turn away by reversing motor C at a differennt value
Wait(Random(400+200)); // On a random timeframe too.
}
until (SENSOR_1 == 1); // ...BUMP! CRASH!
Off(OUT_AC); // We need to switch off the engines to get a neater result.
Wait(100); // Little subtle break, motors stopped;
OnRev(OUT_AC, 75); // Back off, you thingy...
Wait(TIME_MOVE); // for the amount of time and speed as defined above
if (Random() >= 0) // IF statement, what happens if... the value is BELOW Zero:
{
OnRev(OUT_C, Random(50)+50); // Motor C backs off, at least 50% + random of 50 remaining
OnFwd(OUT_A, Random(80)+20); // Motor A backs off, at least 20% + random of 80 remaining
}
else // ELSE statement: returned value is ABOVE zero.
{
OnRev(OUT_A, Random(50)+50); // Motor A backs off, at least 50% + random of 50 remaining
OnFwd(OUT_C, Random(80)+20); // Motor C backs off, at least 20% + random of 80 remaining
}
Wait(Random(600)+400); // Even the duration of the re-direction is random.
}
Off(OUT_AC); // after 4 "rounds", software reach this point: Off A & C
}
//End of (drunken) v2 code
Lola 15:37, 1 July 2008 (UTC)
