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byte triggers; // combine right and left sensor Boolean readings triggers = 2*Sensor(L_TOUCH) + Sensor(R_TOUCH); return triggers; } // this function converts the position of the joystick, // passed as an argument, into a command value // applying a series of thresholds short AngleToCommand (short pos) { if ( pos < -THR4 ) return FWD4; if ( pos >= -THR4 && pos < -THR3 ) return FWD3; if ( pos >= -THR3 && pos < -THR2 ) return FWD2; if ( pos >= -THR2 && pos < -THR1 ) return FWD1; if ( pos >= -THR1 && pos < THR1 ) return STOP; if ( pos >= THR1 && pos < THR2 ) return REV1; if ( pos >= THR2 && pos < THR3 ) return REV2; if ( pos >= THR3 && pos < THR4 ) return REV3; if ( pos >= THR4 ) return REV4; } // this subroutine displays information // about the command being sent sub ShowCommands(byte Lc, byte Rc, byte trig) { string arrows[]; string Rstring, Lstring; // fill the arrows array with the listed strings ArrayBuild(arrows,"o",">",">>",">>>",">>>>","<","<<","<<<","<<<<"); ClearScreen(); // prepare the Xstring to be shown, // according to the right and left command values. // The Xstring is an element of the arrows array. Rstring = arrows[Rc]; Lstring = arrows[Lc]; // show the string on the screen. TextOut(R_INFO_PX,LCD_LINE2,Rstring); TextOut(L_INFO_PX-5*StrLen(Lstring),LCD_LINE2,Lstring); if (trig&1) TextOut(R_INFO_PX-5,LCD_LINE3,"*"); if (trig&2) TextOut(L_INFO_PX-5,LCD_LINE3,"*"); } // this function builds the command to be sent // encoding all the information in a single number // and sends the command via Bluetooth void SendCommand(byte Lcmd, byte Rcmd, byte triggers) {
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CHAPTER 9 NEED INPUT! BUILDING A REMOTE CONTROL DEVICE
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short out; // 100s: analog channel 1 // 10s: analog channel 2 // 1s: digital channels 3 and 4 out = Lcmd*100 + Rcmd*10 + triggers; SendRemoteNumber(BT_CONN,1,out); } task main() { // initialize sensors SetSensorTouch(R_TOUCH); SetSensorTouch(L_TOUCH); TextOut(0,LCD_LINE2,"Connecting..."); if (BTConnection(BT_CONN,SLAVE_NXT)==false) { // if BT connection with robot // is not established, stop the whole program Stop(true); } else { ClearScreen(); // start the selected program on slave NXT RemoteStartProgram(BT_CONN,SLAVE_PROGRAM); } // main ends, leaving execution to the other tasks } // bring right joystick to its limit position task RightJoystickLimit() { Follows(main); ZeroJoyStick(R_JOYSTICK); } // bring left joystick to its limit position task LeftJoystickLimit() { Follows(main); ZeroJoyStick(L_JOYSTICK); } // this task reads the joystick positions continuously // and produces the feedback to keep them vertical task RemoteEngine() {
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short command, Rcmd, Lcmd; byte triggers; // wait for these tasks to end Follows(main,RightJoystickLimit,LeftJoystickLimit); // rotate the motors by 110 degrees to bring the joystick vertical RotateMotorPID(JOYSTICKS,70,110,70,40,70); // store the current position (central) into the Xzero variable Rzero = MotorRotationCount(R_JOYSTICK); Lzero = MotorRotationCount(L_JOYSTICK); while(true) { // read the joysticks' angle from the central position Rpos = MotorRotationCount(R_JOYSTICK) - Rzero; Lpos = MotorRotationCount(L_JOYSTICK) - Lzero; // actuate the feedback on joysticks // to bring them to the center again OnRev(R_JOYSTICK,sign(Rpos)*TORQUE); OnRev(L_JOYSTICK,sign(Lpos)*TORQUE); // if the angle is about 0, then float the motors if (-THR0 <= Rpos && Rpos <= THR0) Float(R_JOYSTICK); if (-THR0 <= Lpos && Lpos <= THR0) Float(L_JOYSTICK); // convert the joysticks' angle to speed commands Lcmd = AngleToCommand(Lpos); Rcmd = AngleToCommand(Rpos); // read the triggers' state triggers = GetTriggers(); // show various information onscreen ShowCommands(Lcmd, Rcmd, triggers); // send the command using Bluetooth SendCommand(Lcmd,Rcmd,triggers); Wait(50); } } At the top of the listing, you can find the constant definitions and the statement to include the Bluetooth Autoconnection Library. Including the file autoconnect.nxc, you can connect the remote to the robot automatically. At program startup, the first code to be executed is the one inside the main task. After the usual sensor initialization, the BTConnection function is called. This function, in turn, checks if the connection with the slave exists; if not, it calls the Autoconnection Library s ConnectNXT function. If the connection cannot be made, because the slave is off or its radio is off, the BTConnection function returns false; this condition causes the main task to call the Stop(true) NXC function to stop the whole program. If the connection is established successfully, main calls the RemoteStartProgram NXC function to start the slave NXT program. This way, once you have turned on your remote (master) and your robot (slave), you just have to start this program to get the connection and the program to start automatically. Not bad, is it Of course, the
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