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2011-10-14T20:49:21Z

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Lola: Protected "Spitter" [edit=autoconfirmed:move=autoconfirmed]

2011-04-10T15:48:20Z

Protected "Spitter" [edit=autoconfirmed:move=autoconfirmed]

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/*
* spitter.nxc
* Version 1.1, December 2006
*
* Sivan Toledo
*
* Physical Robot Structure:
* spitting motor A turns the wheels
* throat motor B opens the throat
* scanning motor C turns the US sensor
* light sensor senses paper pellets, port 1
* sound sensor waits for long quiet periods and complains, port 2
* US sensor searches for something close, turns to him/her
* to ask for food, on port 4
* see http://www.tau.ac.il/~stoledo/lego/Spitter/ for details
*
* Version 1.0 was compiled successfully with beta 15 of NBC/NXC
* Version 1.1 work in progress for beta 16
*
*/

u8 y_sound_level = 0;
u8 y_light_level = 10;
u8 y_us_level = 20;
u8 y_angle = 30;
u8 y_time_since_eating = 40;
u8 y_time_since_loud = 50;
u8 y_time_since_calling = 60;
u8 x_number = 72;

u32 quiet_timeout = 15000;
u32 feedme_timeout = 30000;

u32 base_quiet_timeout = 15000;
u32 base_feedme_timeout = 30000;

u32 max_quiet_timeout = 150000;
u32 max_feedme_timeout = 300000;

u8 l;
mutex eating_state_mutex;
u8 eating_state = 0; // not eating
u32 eating_time = 0; // already hungry!

task eating()
{
//Follows(main);

SetSensorType(IN_1, IN_TYPE_LIGHT_ACTIVE);
SetSensorMode(IN_1, IN_MODE_PCTFULLSCALE);
ResetSensor(IN_1);

while (TRUE) {
l = Sensor(IN_1);

TextOut(0, y_light_level, "light level: " );
TextOut(x_number, y_light_level, " " );
NumOut (x_number, y_light_level, l );

if (l > 40) {
// the light sensor saw a white paper pellet

Acquire(eating_state_mutex);
StopSound(); // stop talking, if we're taking
eating_state = 1;
eating_time = CurrentTick();
Release(eating_state_mutex);

PlayFile("yuck.rso");
while (SoundFlags() != SOUND_FLAGS_IDLE);

quiet_timeout = base_quiet_timeout;
feedme_timeout = base_feedme_timeout;

// turn motor A on
OnFwd(OUT_A, 100);
// wait for them to spin fast
Wait(2000);
// open the throat
OnFwd(OUT_B, 40);
// wait for the throat to open fully
Wait(500);
Off(OUT_B);
Wait(1000);
// wait for the pellets to drop and be spitted out
Wait(2000);
// close the mouth and stop the wheels
OnRev(OUT_B, 40);
Coast(OUT_A);
Wait(500);
Off(OUT_B);
Off(OUT_A);

Acquire(eating_state_mutex);
eating_state = 0;
Release(eating_state_mutex);
}
}
}

task listening()
{
u32 last_loud;
u8 sound_level;
SetSensorType(IN_2, IN_TYPE_SOUND_DB);
SetSensorMode(IN_2, IN_MODE_PCTFULLSCALE);
ResetSensor(IN_2);

last_loud = CurrentTick(); // pretend it's loud when we start

while (TRUE) {
sound_level = Sensor(IN_2);
if (sound_level > 20)
last_loud = CurrentTick();
if (sound_level > 50)
quiet_timeout = base_quiet_timeout; // loud, Spitter gets impatient

TextOut(0, y_sound_level, "sound level: " );
TextOut(x_number, y_sound_level, " " );
NumOut(x_number, y_sound_level, sound_level);

TextOut(0, y_time_since_loud, "T loud: " );
TextOut(x_number, y_time_since_loud, " " );
NumOut(x_number, y_time_since_loud, (CurrentTick()-last_loud)/1000);

if (CurrentTick() - last_loud > quiet_timeout) {
last_loud = CurrentTick(); // I'm talking!
PlayFile("itsquiet.rso" );
quiet_timeout = 2*quiet_timeout;
if (quiet_timeout > max_quiet_timeout)
quiet_timeout = max_quiet_timeout;
}

Wait(500);
}
}

task scanning()
{
u8 usdist;
u8 mindist;
s16 scn_deg;
s16 mindeg;
u8 hungry = FALSE;
u32 time_since_calling;
u32 time_since_eating;
u32 calling_time = 0;

while (TRUE) {

Acquire(eating_state_mutex);
time_since_eating = CurrentTick() - eating_time;
Release(eating_state_mutex);

TextOut(0, y_time_since_eating, "T feeding: " );
TextOut(x_number, y_time_since_eating, " " );
NumOut(x_number, y_time_since_eating, time_since_eating/1000);

TextOut(0, y_time_since_calling, "T calling: " );
TextOut(x_number, y_time_since_calling, " " );
NumOut(x_number, y_time_since_calling, (CurrentTick() - calling_time)/1000);

if (time_since_eating > feedme_timeout &&
(CurrentTick() - calling_time) > feedme_timeout) {

calling_time = CurrentTick();

mindist = 255;
SetSensorLowspeed(IN_4);
RotateMotor( OUT_C, 30, -100 );
Wait(100);
for (scn_deg=-100; scn_deg < 100; scn_deg += 10) {
usdist = SensorUS(IN_4);
if (usdist < mindist) {
mindist = usdist;
mindeg = scn_deg;
}

TextOut(0, y_us_level, "us distance: " );
TextOut(x_number, y_us_level, " " );
NumOut(x_number, y_us_level, usdist );

TextOut(0, y_angle, "angle: " );
TextOut(x_number, y_angle, " " );
NumOut(x_number, y_angle, scn_deg);

RotateMotor( OUT_C, 30, 10 );
Wait(100);
}
RotateMotor( OUT_C, 30, -100 );
Wait(500);

if (mindist < 255) {
RotateMotor( OUT_C, 30, mindeg );
PlayFile("feedme.rso");
//while (SoundState() != SOUND_STATE_IDLE) // || SoundFlags() != SOUND_FLAGS_IDLE)
while (SoundFlags() != SOUND_FLAGS_IDLE);
PlayFile("feedme.rso");
while (SoundFlags() != SOUND_FLAGS_IDLE);
PlayFile("feedme.rso");
while (SoundFlags() != SOUND_FLAGS_IDLE);
RotateMotor( OUT_C, 30, -mindeg );
}

feedme_timeout = 2*feedme_timeout;
if (feedme_timeout > max_feedme_timeout)
feedme_timeout = max_feedme_timeout;

}
Wait(1000);
}
}

task keepalive()
{
while (true) {
ResetSleepTimer();
Wait(60000);
}
}

// the main task only starts the other ones

task main()
{
//Precedes(listening, eating, scanning, keepalive);
Precedes(listening, eating, scanning, keepalive);
}

[[Category:NXT]][[Category:Snippets]]

Spitter - Revision history

Admin: 1 revision

Lola: Protected "Spitter" [edit=autoconfirmed:move=autoconfirmed]