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CHAPTER 6 NXT TURTLE
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sub ScaredMoodActions() { int recovery_time; MoveHead(IN,true); times_scared++; // increase the scares counter and display it TextOut(0,LCD_LINE5,"scared: "); NumOut(43,LCD_LINE5,times_scared); // time to recover from scare recovery_time = RandomTime(RECOVERY_MEAN_TIME, 1, SEC_1); //while the time to recover from scare has not passed until (TIMER>recovery_time) { Tremble(Random(2)+2); Wait(200); // if the scares rage on... if( loud_noise ) { ResetTimer(); // increase the scares counter and display it times_scared++; TextOut(0,LCD_LINE5,"scared: "); NumOut(43,LCD_LINE5,times_scared); } } // if the sight is clear, turtle returns in QUIET mood if (near_object) mood = TRUSTFUL; // else if someone is near, it becomes a bit less shy else mood = QUIET; // however, if too scared, it decides to escape if (times_scared>2) mood = ANNOYED; ClearLine(LCD_LINE5); } sub TrustfulMoodActions() { int eating_max_times = Random(2)+1; int eating_counter = 0; short event = 0; OnFwdReg(HEAD,5,OUT_REGMODE_SPEED); ResetTimer(); // turtle tries to get the head out in a shy way
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CHAPTER 6 NXT TURTLE
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while( event == 0 ) { if (TIMER>2500) { event = 1; } // but you can scare it again if (loud_noise) { event = -1; } } Off(HEAD); // if the head is completely out before another scare, if ( event == 1 ) { MoveHead(OUT,false); while (near_object && eating_counter<=eating_max_times) { // it accepts food from you Eat(); eating_counter++; } // until you go away while(near_object); mood = QUIET; } // if the turtle is scared again while getting the head out, // goes in SCARED mood again else { head_state = OUT; MoveHead(IN,true); mood = SCARED; } } sub AnnoyedMoodActions() { int turn_time, wander_time; // reset the scares and boredom counter times_scared = 0; // the boredom has passed, reset the counter times_bored = 0; // the turtle decides to escape // it draws back while it sees something near GoBack(100);
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CHAPTER 6 NXT TURTLE
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while(near_object); Float(LEGS); // shakes the head MoveHead(OUT,true); MoveHead(IN,true); MoveHead(OUT,true); // then turns randomly turn_time = RandomTime(TURN_MEAN_TIME, 2, SEC_1); wander_time = RandomTime(WANDER_MEAN_TIME, 3, SEC_1); ResetTimer(); // chooses between right and left if(Random(2)==1) TurnRight(100); else TurnLeft(100); Wait(turn_time); Float(LEGS); ResetTimer(); // ...and walks straight quickly GoStraight(100); while( TIMER<wander_time/3 && !near_object ); // but then gets tired, GoStraight(70); while( TIMER<2*wander_time/3 && !near_object ); // so tired... GoStraight(40); while( TIMER<wander_time && !near_object ); // ...that it stops after a while! Float(LEGS); mood = QUIET; } //===================================================================// // TURTLE TASKS: main, finite state machine, monitors // //===================================================================// task main() { Turtle_init (); // exits to the other tasks including Follows(main) statement } task FSM () {
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CHAPTER 6 NXT TURTLE
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Follows(main); // finite state machine loop while(true) { ShowMood(mood); // the turtle acts according to its actual mood. // The order in which the moods are listed in the // switch structure is not relevant switch(mood) { case QUIET: QuietMoodActions(); break; case HUNGRY: HungryMoodActions(); break; case BORED: BoredMoodActions(); break; case SCARED: ScaredMoodActions(); break; case TRUSTFUL: TrustfulMoodActions(); break; case ANNOYED: AnnoyedMoodActions(); break; } } } // this task monitors the noise level around. // its reading is used only when the legs' motors // are still; otherwise their noise would saturate the sensor // and the turtle would not be able to sense lower noises. task NoiseMonitor () { Follows(main); int s; while (true) {
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CHAPTER 6 NXT TURTLE
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s = Sensor(MIC); if (s > 75) { loud_noise = true; Wait(200); until (Sensor(MIC)<25); } loud_noise = false; TextOut(0,LCD_LINE7,"noise: NumOut(35,LCD_LINE7,s); NumOut(60,LCD_LINE7,loud_noise); Wait(100); } }
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// This task monitors the Ultrasonic Sensor. // Its output is the near_object variable, filtered // by a hysteresis cycle. task View () { Follows(main); int d, d1, d2; // contain the distance readings while (true) { // first reading d1 = SensorUS (EYES); Wait(50); // second reading d2 = SensorUS (EYES); // d is the average of d1 and d2 d = (d1 + d2)/2; if (d < NEAR) near_object = true; else if ( d > FAR ) near_object = false; TextOut(0,LCD_LINE6,"distance: "); NumOut(53,LCD_LINE6,d); NumOut(80,LCD_LINE6,near_object); } } // this task shows the turtle's "biological clock" task ShowTimer () { string time, sec, sec_tenth; Follows(main); while(true)
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