barcode rendering framework c# example Programming the AT-ST in Font

Creating PDF-417 2d barcode in Font Programming the AT-ST

Programming the AT-ST
Paint PDF417 In None
Using Barcode printer for Font Control to generate, create PDF417 image in Font applications.
www.OnBarcode.com
UPC Code Creator In None
Using Barcode drawer for Font Control to generate, create UPC-A Supplement 5 image in Font applications.
www.OnBarcode.com
The program discussed in this section gives your robot the ability to walk everywhere, by avoiding obstacles. Download the sound files provided, together with the source code, to the NXT using BricxCC, so that the NXT can play them.
Draw QR Code 2d Barcode In None
Using Barcode generation for Font Control to generate, create QR Code image in Font applications.
www.OnBarcode.com
Barcode Printer In None
Using Barcode maker for Font Control to generate, create Barcode image in Font applications.
www.OnBarcode.com
You can find the files in the Source Code/Download area on the Apress web site at http://www. Tip
Barcode Drawer In None
Using Barcode generator for Font Control to generate, create Barcode image in Font applications.
www.OnBarcode.com
PDF417 Maker In None
Using Barcode creator for Font Control to generate, create PDF417 image in Font applications.
www.OnBarcode.com
apress.com. Use Appendix A as a guide for downloading files to the NXT.
GTIN - 13 Generation In None
Using Barcode drawer for Font Control to generate, create UPC - 13 image in Font applications.
www.OnBarcode.com
ANSI/AIM Code 93 Drawer In None
Using Barcode creator for Font Control to generate, create Uniform Symbology Specification Code 93 image in Font applications.
www.OnBarcode.com
CHAPTER 4 NXT AT-ST
PDF 417 Recognizer In Java
Using Barcode decoder for Java Control to read, scan read, scan image in Java applications.
www.OnBarcode.com
Reading PDF-417 2d Barcode In VB.NET
Using Barcode scanner for .NET Control to read, scan read, scan image in .NET framework applications.
www.OnBarcode.com
When you start the AT-ST program, it aligns the legs and the head in the center. Then the AT-ST starts walking straight as described earlier, until it sees an obstacle. At this point, it produces a twin-laser sound, it chooses a random turning direction, and starts steering. It should turn changing its direction by about 90 degrees, although this depends on the slipperiness of the surface it is walking on. Then it starts walking straight, as before. Again Another walker with obstacle avoidance you say. Well, again: having well-performing hardware doesn t mean that making it work well is easy. Therefore, here I ll focus attention on the routines that manage the mechanical parts to allow the robot to walk correctly. This is not at all a trivial issue, especially concerning the right timing of the motor movements. Also, the legs and the head orientation are regulated by FSMs. So, this is the perfect occasion to see in practice what you read about in the previous chapter. Once you have this core software ready to work, you can adapt the program to do anything you want even control the robot remotely. As with any NXC program, the declaration of all the constants and macros used in the program appears at the top of the code, shown in Listing 4-1.
UPC-A Supplement 2 Recognizer In VB.NET
Using Barcode scanner for .NET framework Control to read, scan read, scan image in .NET applications.
www.OnBarcode.com
GS1-128 Maker In Java
Using Barcode drawer for Java Control to generate, create EAN / UCC - 13 image in Java applications.
www.OnBarcode.com
Note A macro is an operation defined inside a #define directive. Before the NXC compiler starts to translate your code into instructions readable by the NXT processor, the NXC preprocessor expands the macro as follows. If the macro has no arguments, such as #define NEAR 20, the preprocessor will replace NEAR with the constant 20 every time it encounters the word NEAR. If the macro has arguments, such as #define TWO_TIMES(x) 2*(x), then the argument x will be replaced with the argument inside the brackets of a call, such as y = TWO_TIMES(3). So, the preceding will be expanded into y = 2*(3), storing the result 6 inside the variable y. Notice that you could also call y = TWO_TIMES(3+4), which would be expanded into y = 2*(3+4), yielding 14. If you omitted the parentheses in the macro, the expression would be wrongly translated as y = 2*3+4, yielding 10 as a wrong result. Writing macros in all capital letters isn t strictly required, but it is a useful convention. When you see a word with all capital letters, it is probably defined as a macro.
Create EAN 13 In Visual C#.NET
Using Barcode creator for VS .NET Control to generate, create GTIN - 13 image in VS .NET applications.
www.OnBarcode.com
UCC - 12 Decoder In C#
Using Barcode reader for .NET Control to read, scan read, scan image in .NET applications.
www.OnBarcode.com
Listing 4-1. The AT-ST Program Definitions #define #define #define #define #define #define #define #define #define #define #define #define #define TOUCH IN_3 //short cable SONAR IN_1 //mid cable MIC IN_4 //mid_cable LEGS OUT_C HEAD OUT_A NEAR 20 LEFT 0 CENTER 1 RIGHT 2 TURN_RIGHT 1 TURN_LEFT -1 WALK 0 STOP 5
Barcode Creator In .NET
Using Barcode maker for ASP.NET Control to generate, create Barcode image in ASP.NET applications.
www.OnBarcode.com
PDF-417 2d Barcode Generation In C#.NET
Using Barcode encoder for VS .NET Control to generate, create PDF417 image in Visual Studio .NET applications.
www.OnBarcode.com
#define OBSTACLE (SensorUS(SONAR)<NEAR)
Linear 1D Barcode Printer In Visual Basic .NET
Using Barcode drawer for .NET framework Control to generate, create 1D Barcode image in VS .NET applications.
www.OnBarcode.com
Making Barcode In Objective-C
Using Barcode creator for iPad Control to generate, create Barcode image in iPad applications.
www.OnBarcode.com
CHAPTER 4 NXT AT-ST
Draw GTIN - 13 In None
Using Barcode creator for Microsoft Word Control to generate, create UPC - 13 image in Office Word applications.
www.OnBarcode.com
Barcode Maker In VS .NET
Using Barcode encoder for ASP.NET Control to generate, create Barcode image in ASP.NET applications.
www.OnBarcode.com
The main task code is shown in Listing 4-2. Listing 4-2. The main Task Code of the AT-ST Program, After Declaring Global Variables // global variables int weightState, legsState, runState; [...] task main () { ATST_init(); int action; while (true) { if(OBSTACLE) runState = 1-2*(Random(2)); // 1, -1 else runState = WALK; switch(runState) { case TURN_RIGHT: TurnRight(9); break; case TURN_LEFT: TurnLeft(9); break; case WALK: GoStraight(); break; } CenterHead(); CenterLegs(); } } Outside every task, function, or subroutine, you see three global variables declared; every function in the program can access these variables. By contrast, a variable declared inside a function (for example the action variable inside the main task) is called local and can be used only by the function inside which it is declared. If any other function tries to use that local variable inside its body, it would cause a compiler error. In fact, the compiler would complain about the presence of an Undefined Identifier action, because it would not know what action is. At the start, the ATST_init() function is called to perform hardware initialization; in this case, to tell the NXT where each sensor is attached and to reset the head and the legs to their zero position. These operations are not trivial, as you will see later. Next, the program enters an infinite loop, as was the case for Quasimodo (see 2). Inside this loop, the whole basic AT-ST behavior is expressed. Let s analyze the code by breaking it into smaller chunks:
Copyright © OnBarcode.com . All rights reserved.