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// start spinning according to the search phase if (phase == 1) { Spin(CW); span = SEARCH_WIDTH; } if (phase == 2) { Spin(CCW); span = 2*SEARCH_WIDTH; } if (phase == 3) { Spin(CW); span = SEARCH_WIDTH; } // the following loop is interrupted when // a ravine is detected // a mine is found // the robot has covered the current search width while ( detection == NONE ) { if (RAVINE_DETECTED) { // if a ravine is detected, avoid it // and break out of this loop detection = RAVINE_EV; AvoidRavine(); } else if (MINE_DETECTED) { // if a mine is detected, set result to true // and break out of this loop detection = MINE_EV; result = true; } else if (abs(MotorTachoCount(LEFT_WHEEL))>span) { // if the span has been covered, // break out of this loop detection = TIMEOUT_EV; } }
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OffEx(WHEELS, RESET_NONE); return result; } //===================================================================// // SEARCH THE MINE // //===================================================================// sub SearchMine() { byte detection; // initialize "mine found" flag to false found = false; TextOut(0,LCD_LINE5,"SEARCHING MINE "); // repeat the procedure until a mine is found until (found) { // phase 1 : search the mine spinning clockwise found = SearchPhase(1); if (!found) // do this if the mine has not been found yet { // phase 2 : search the mine spinning counterclockwise found = SearchPhase(2); } if (!found) // do this if the mine has not been found yet { // phase 3 : spin back to center found = SearchPhase(3); } if (!found) // do this if the mine has not been found yet { // advance a bit OffEx(WHEELS, RESET_ALL); RotateMotorEx(WHEELS,50,40,0,true,true); } } }
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//===================================================================// // DETECT MINE EDGE, MEASURE MINE LENGTH // //===================================================================// /* top ____ |O)O)|. |O)O)|| right left |O)O)|| |O)O)|| \____\| bottom <-width-> */ byte WaitEdge( byte mode ) { // wait for the sensor reading to change byte event = NONE; unsigned long time = CurrentTick(); while(event == NONE) { if ( (CurrentTick()-time) > SEARCH_TIMEOUT ) { event = TIMEOUT_EV; } else if ( mode == DISMISSING ) { // detect the transition from black to white if (MINE_LOST) event = EDGE_EV; } else if ( mode == APPROACHING ) { // detect the transition from white to black if (MINE_DETECTED) event = EDGE_EV; } } return event; }
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int FindMineLength( short edge ) { // this function returns the left wheel rotation count (angle) // used to measure the mine length as the // distance between top and bottom edge int y; byte ev; // save start position y = MotorRotationCount(LEFT_WHEEL); OnFwdSync(WHEELS,sign(edge)*30,0); if (edge == BOTTOM) { // ignore the first edge found (the top one) WaitEdge(APPROACHING); } // wait for mine dismissing with timeout constraint ev = WaitEdge(DISMISSING); Off(WHEELS); if (ev == EDGE_EV) { // if the edge was found, save position y = MotorRotationCount(LEFT_WHEEL); } return y; } //===================================================================// // CENTER THE MINE // //===================================================================// sub CenterMine() { int length; // this file should be present in the NXT memory // if you have downloaded the latest complete firmware PlayFile ("! Attention.rso"); TextOut(0,LCD_LINE5,"CENTERING MINE "); // find top and top and bottom edges of the mine // to measure its length TextOut(0,LCD_LINE6," TOP EDGE "); length = FindMineLength(TOP); TextOut(0,LCD_LINE6," BOTTOM EDGE "); length = length - FindMineLength(BOTTOM); // and then center the mine
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RotateMotor(WHEELS,40,length/2); // // HERE YOU CAN ADD A SIMILAR PROCEDURE TO // MEASURE THE MINE WIDTH // // clear line 6 of the screen TextOut(0,LCD_LINE6," "); } //===================================================================// // COLLECT THE MINE // //===================================================================// sub CollectMine() { TextOut(0,LCD_LINE5,"COLLECTING MINE "); // move forward to get the mine between the claws RotateMotorEx(WHEELS, 50, 115, 0, true, true); ResetAllTachoCounts(WHEELS); StopSound(); // grab the mine and lift it RotateMotorPID(GRABBER,90,1460,30,30,60); // release the mine into the hold, and lower the arm again RotateMotorExPID(GRABBER,-100,1000,0,false,false,30,20,50); GrabberZeroPosition(); } task main () { // call the initialization subroutine MineSweeper_init(); // execute the sequence of actions forever // using the preceding subroutines while ( true ) { SearchMine(); CenterMine(); CollectMine(); } } The program starts, as always, by executing the main task, which is the only task running in this program. In main, the MineSweeper_init() subroutine is called to perform robot initialization. After the sensor ports are configured to read data from the Light Sensor and the Ultrasonic Sensor, the color of the ground is acquired to set the threshold that will be used in the rest of the program to distinguish the dark mines on the ground. Then, the grabber arm is brought into its zero position by the GrabberZeroPosition() subroutine, using the useful motor stall detection algorithm you have seen throughout the book.
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