vb.net barcode scanner programming USING NOT QUITE C (NQC) TO PROGRAM THE RCX in Software

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USING NOT QUITE C (NQC) TO PROGRAM THE RCX
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sor are mounted on the RCX, but you get the idea). The motors will continue to run as long as enough light strikes the sensor. Event 3. When the touch sensor mounted on the side of the RCX opposite the light sensor is activated, Event 2 is suspended ( subsumed ). The robot reverses direction for a brief moment, then spins on its axis. Finally, it stops moving, and it is more than likely no longer facing in the same direction. At this time, Event 2 is reactivated so that the robot will run away from any light that shines into the light sensor. See Listing 14.4 (let s call it multitask.ncq), which contains short comments that are indicated by the double slash ( // ) characters. These comments serve to describe the main functionality of the program.
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Listing 14.4
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multitask.ncq.
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// Constants definitions #define LIGHT SENSOR_1 #define SWITCH SENSOR_2 #define MOTOR OUT_A+OUT_C // Main task; run when Run button is pressed on RCX // starts all tasks task main() { start play_song; start run_from_light; start timed_backup; } // Task for running away from the light (same as photophobe.ncq, // except that motors run a little slower) task run_from_light() { while (true) { SetPower(MOTOR, 3); SetDirection (MOTOR, OUT_FWD); SetSensorType(LIGHT, SENSOR_TYPE_LIGHT); if(LIGHT > 60) On(MOTOR); else Off(MOTOR); } } // Task for backing up and spinning in response to switch touch task timed_backup() { while (true) { SetPower(MOTOR, 3); SetSensor(SWITCH, SENSOR_TOUCH); if (SWITCH == 1) { stop run_from_light; // disallow run_from_light task SetDirection (MOTOR, OUT_REV); On(MOTOR); Wait (50); SetDirection (OUT_A, OUT_FWD); Wait (150); SetDirection (MOTOR, OUT_FWD); Off(MOTOR); start run_from_light; // allow run_from_light task
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186 PROGRAMMING THE LEGO MINDSTORMS RCX
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} } } // Task for playing a little tune task play_song() { while (true) { PlayTone(392,25); PlayTone(349,25); PlayTone(330,25); PlayTone(349,25); PlayTone(392,25); PlayTone(0,2); PlayTone(392,25); PlayTone(0,2); PlayTone(392,25); PlayTone(0,2); Wait (500); } }
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Feel free to experiment with the code for multitask.ncq. The only real caveat is that if you want a task to continue it should have its own loop. The While statement is one method for doing this, but NQC provides other looping statements you may wish to try. Also, remember that the RCX supports up to 10 tasks.
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Of course, there s far more to Not Quite C than we have discussed here. The NQC download includes complete documentation on its capabilities. For example, NQC supports a wide variety of programming statements, loops, variable assignments, conditional expressions, and more. With NQC you can develop highly sophisticated programs for the RCX robot, and with a surprisingly small amount of code. Look for additional NQC samples and resources at the support site for this book, www.robotoid.com.
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From Here
To learn more about
Introduction to programming concepts Using LEGO parts to create custom robots Using the LEGO Mindstorms Robotics Invention System Computer control of robots
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7, Programming Concepts The Fundamentals 12, Build Custom LEGO-based Robots 13, Creating Functionoids with the LEGO Mindstorms Robotics Invention System Part 5, s. 28 34
PART
POWER, MOTORS, AND LOCOMOTION
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ALL ABOUT BATTERIES AND ROBOT POWER SUPPLIES
he robots in science fiction films are seldom like the robots in real life. Take the robot power supply. In the movies, robots almost always have some type of advanced nuclear drive or perhaps a space-age solar cell that can soak up the sun s energy, then slowly release it over two or three days. Nuclear power supplies are out of the question, except in some top-secret robotic experiment conducted by the Army. And solar cells don t provide enough power for the typical motorized robot, and as yet they have no power storage capabilities. Most self-contained real-life robots are powered by batteries, the same kind of batteries used to provide juice to a flashlight, cassette radio, portable television, or other electrical device. Batteries are an integral part of robot design, as important as the frame, motor, and electronic brain those components we most often think of when the discussion turns to robots. To robots, batteries are the elixir of life, and without them, robots cease to function. While great strides have been made in electronics during the past 20 years including entire computers that fit on a chip battery technology is behind the times. On the whole, today s batteries don t pack much wallop for their size and weight, and the rechargeable ones take hours to come back to life. The high-tech batteries you may have heard about exist, but they are largely confined to the laboratories and a few high-priced applications, such as space or medical science. That leaves us with the old, run-of-the-mill batteries used in everyday applications.
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