QTI line follower and infra red headlines

Marjolijn

HI,

I am new in to robotics. And i did the examples in "Robotics with the Boe-bot"
Now I have some problems wich I just can't figure out.

Does anybody know how you combine the function infrared headlights with the QTI line follower?

I have two Robots; one of them makes the black line wich the other Boe-Bot follows with the QTI line follower system. I don't want them to bump in to each other, so it would be great if the line follow robot can detect the other boe-bot with the infra red headlights...


I put the two scripts of both functions after each other in to subroutines, like combining the whispers with the infra red in all kind of combinations. I tried several ideas wich didn't work out.
:-(

I don't have any idea what kind of script would work out together with the servo's...


Would be very happy is someone can give me some hints or script solutions.

Thanx

chrs Marjolijn

Franklin

It would help us if you would include your existing code when you ask for code help.

Marjolijn

Franklin wrote: »

It would help us if you would include your existing code when you ask for code help.

Ok. offcourse, that would be helpfull.

This is my latest script. It doesn't work at all. it sounds so simple; just two detecting routines wich can tell the servo's what to do... For me it isn't.

Here is my script:

' Robotics with the Boe-Bot - Deadline_eiberttip.bs2
' Make forward, left, right, and backward movements in reasable subroutines.
'run the p12 servo for twice as long.

' {$STAMP BS2}
' {$PBASIC 2.5}


irDetectLeft VAR Nib
irDetectRight VAR Nib
pulseleft VAR Word
pulseRight VAR Word
loopCount VAR Byte
pulseCount VAR Byte


FREQOUT 4, 2000, 3000




qtis VAR Nib
OUTB = %1111



begin:
DO


FREQOUT 2, 1, 38500
irDetectright = INB

FREQOUT 8, 1, 38500
irDetectleft = INB

DIRB = %1111
PAUSE 0
DIRB = %0000
PAUSE 0
qtis = INB

IF (irDetectLeft = 1) AND ( irDetectRight = 1) THEN
GOTO linefollower:

ELSEIF (irDetectLeft = 0) AND (irDetectRight = 0)THEN
ab:
pulseCount = 1
pulseLeft = 850
pulseRight = 650
ELSEIF (irDetectRight = 1) THEN
cd:
pulseCount = 10
pulseLeft = 650
pulseRight = 650
ELSEIF ( irDetectLeft = 1) THEN
ef:
pulseCount = 10
pulseLeft = 850
pulseRight = 850
ELSE
gh:
pulseCount = 15
pulseLeft = 650
pulseRight = 850
ENDIF

FOR loopCount = 1 TO pulseCount
PULSOUT 13, pulseLeft
PULSOUT 12, pulseRight

RETURN

linefollower:
SELECT qtis

CASE (irDetectLeft = 1) AND (irDetectTight = 1)THEN
GOTO linefollowersub
ELSE
GOTO begin
linefollowersub
CASE %1000
PULSOUT 13, 650
PULSOUT 12, 650
CASE %1100
PULSOUT 13, 750
PULSOUT 12, 650
CASE %0100
PULSOUT 13, 800
PULSOUT 12, 650
CASE %0110
PULSOUT 13, 850
PULSOUT 12, 650
CASE %0010
PULSOUT 13, 850
PULSOUT 12, 700
CASE %0011
PULSOUT 13, 850
PULSOUT 12, 750
CASE %0001
PULSOUT 13, 850
PULSOUT 12, 850
CASE ELSE
PAUSE 3

ENDSELECT

RETURN

LOOP