Drunken tribot v3
From ZENotes
(Difference between revisions)
m (Protected "Drunken tribot v3" [edit=autoconfirmed:move=autoconfirmed]) |
m (1 revision) |
Latest revision as of 20:49, 14 October 2011
/* learning NXC with Lola
THE MARCH OF THE DRUNKEN TRIBOT v3
Simple escape-the-room by bumper programme with Random Moves.
And Tridiot hates Green Tiles too, makes him puke! */
mutex moveMutex; // start of code
// Case 1: Poking Around
// Tridiot tries to move forward. That ain't an easy task.
task poke()
{
while (true) // Don't Ask; remove it & it won't compile
{
Acquire(moveMutex); // Grab Control over the engines
do // do the following until... something happens!
{
OnFwd(OUT_AC, 50); // Forward 50%
Wait(Random(1000)+500); // For a random amount of time + 500 (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.
}
while (SENSOR_1 == 0); // This one is not supposed to be neccessary.
Release(moveMutex); // Give "back" the motors to the other snippets
}
}
// Case 2: the Puke
// That's when Tridiot steps over a green tile in my office, the color makes him puke...
task puke() // LightSensor (port 3) activated
{
while (true)
{
Acquire(moveMutex); // Grab Control over the engines
if (Sensor(IN_3) > 27) // YOU PROBABLY WILL HAVE TO EDIT THIS ONE
{
OnRev(OUT_C, 45); // Back up Motor_C
Wait(400); // (briefly)
until(Sensor(IN_3) <= 30); // Check sensor: Am I away of this most horrible colour?
OnFwd(OUT_AC, 35); // If so, move on! Pfew, I though I was going to be sick!
}
Release(moveMutex); // Give "back" the motors to the other snippets
}
}
// Case 3: the Crash
// Tridiot bumps into something, Aargh, sorry sir, and decides to move away. or so he tries.
task crash() // Touch Sensor (port 1) activated
{
while (true) // Don't Ask; remove it & it won't compile
{
Acquire(moveMutex); // Grab Control over the engines
if (SENSOR_1 == 1); // When CRAAAASH
OnRev(OUT_AC, 75); // Back off, you thingy...
Wait(750); // for the amount of time and speed as defined
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
}
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
}
Wait(Random(600)+400); // Even the duration of the re-direction is random.
Release(moveMutex); // Give "back" the motors to the other snippets
}
}
//totally superfluous "humming" thread
//should be re-worked in a hiccup noise, that would fit!
#define TIME 200
#define MAXVOL 7
#define MIDVOL 3
#define pause_4th Wait(TIME)
#define pause_8th Wait(TIME/2)
#define note_4th \
PlayFileEx("! Click.rso",MIDVOL,FALSE); pause_4th
#define note_8th \
PlayFileEx("! Click.rso",MAXVOL,FALSE); pause_8th
task hum()
{
while (true)
{
Wait(2000);
note_4th;
note_8th;
note_8th;
note_4th;
note_4th;
pause_4th;
note_4th;
note_4th;
Wait(100);
}
}
// Actual Starting "mother" thread: lauches the others.
task main()
{
Precedes(poke, puke, crash, hum); // These are the threads to launch
SetSensorTouch(IN_1); // These are the Sensors we'll use:
SetSensorLight(IN_3); // Touch for "Crash" and Light for "Puke"
}
// EoC. Eurgh.
Lola 15:43, 1 July 2008 (UTC)
