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CHAPTER 9 NEED INPUT! BUILDING A REMOTE CONTROL DEVICE
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R/C: A Program for Every Need
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The software that you are going to write for it is what makes this remote special. To fulfill any need in terms of control, I had to think about a fast and easy way to reach all the features not only for a simple three-motor robot, but also for a complex remote-controlled model such as JohnNXT. Next, I ll show two different versions of the R/C sender/receiver programs. You can use the first basic version to control simple robots, such as the Tribot. The joysticks control the wheels and treads, while the two triggers activate other functions, related to the third motor. Then, I ll discuss the second multimodal program s version the one you ll use to control JohnNXT remotely. Finally, you ll be instructed how to modify the provided programs so you can adapt them to your own custom remote-controlled robots.
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Simple R/C Programs
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The simple version of the program can control a differential drive robot such as the Tribot, equipped with a motor per wheel and a third motor for some additional features. However, nothing stops you from bending the retail set scorpion Spike to your command! The way its legs are driven makes it a differential drive walking robot. The joysticks control the wheels turning speed and direction; you use the two Touch Sensors to send three commands to the robot, so you can activate three additional functions. Pressing the right trigger, the command sent activates the first function; pressing the left trigger, the second function is activated; finally, pressing both triggers together activates a third function on the robot.
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Simple Sender Program (to Be Run on the Remote Control)
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First, I ll describe the sender program; you can read its code in Listing 9-1. Listing 9-1. The Simple Version of the Remote Control Sender Program // include Bluetooth Autoconnection Library #include "autoconnect.nxc" // I/O devices' ports #define R_JOYSTICK OUT_C #define L_JOYSTICK OUT_A #define JOYSTICKS OUT_AC #define R_TOUCH IN_4 #define L_TOUCH IN_1 #define BT_CONN 1 // change this constant according to your slave NXT name #define SLAVE_NXT "D_NXT2" // this is the name of the slave program to be started #define SLAVE_PROGRAM "remote_slave.rxe"
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CHAPTER 9 NEED INPUT! BUILDING A REMOTE CONTROL DEVICE
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// position of the graphics onscreen #define L_INFO_PX 25 #define R_INFO_PX 75 // commands' constant definitions #define STOP 0 #define FWD1 1 #define FWD2 2 #define FWD3 3 #define FWD4 4 #define REV1 5 #define REV2 6 #define REV3 7 #define REV4 8 // joystick angle thresholds #define THR0 3 #define THR1 5 #define THR2 10 #define THR3 15 #define THR4 20 #define TORQUE 7 // joysticks' related global variables int Lpos, Rpos, Lzero, Rzero; mutex motor_sem; // this function returns true if the // Bluetooth connection with the robot exists; // otherwise it tries to make the connection // using the Autoconnection Library; // if even this fails, // it displays some instructions // and returns false bool BTConnection(byte conn, const string name) { bool connection_exists; if (BluetoothStatus(conn)==NO_ERR) { connection_exists = true; } else { // call the Autoconnection Library function
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CHAPTER 9 NEED INPUT! BUILDING A REMOTE CONTROL DEVICE
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if (ConnectNXT(name,conn)==true) { // if connection was successful // the function returns true PlayTone(2000,20); connection_exists = true; } else { ClearScreen(); TextOut(0,LCD_LINE1,"You must connect"); TextOut(0,LCD_LINE2,"the slave NXT on"); TextOut(0,LCD_LINE3,"BT channel 1"); TextOut(0,LCD_LINE4,"using the menu"); TextOut(0,LCD_LINE5,"of this NXT."); Wait(4000); connection_exists = false; } } return connection_exists; } // this subroutine brings the joystick, whose motor // is attached to the specified port, to the central // position. inline sub ZeroJoyStick(byte port) { int t; t = MotorRotationCount(port); // start motor OnRev(port,50); Wait(80); // until a stall is detected while( abs(t-MotorRotationCount(port))>5 ) { t = MotorRotationCount(port); Wait(20); } // stop motor Off(port); } // this function returns // 1 if right sensor is pressed, // 2 if left sensor is pressed, // 3 if both sensors are pressed byte GetTriggers() {
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