object avoidance bot

lobo

in the code for fastIrRoaming with the boe-bot (page 266)

the bot is using a pair of obstacle ovoidance ir's

but what if i wanted to use 3 or 4, how would i modify the code here?



IF (irDetectLeft = 0) AND (irDetectRight = 0) THEN

Franklin

Write the irDetectx = X to check all the sensors. Try it with three and expand from there. That's the fun of having a boe-bot, writing your own programs to expand it's capability ( AND LEARN in the process)

▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔
- Stephen

lobo

can you give me a sample code of irDectectx=X Stephe ? thank you very much for your sincere help!

Franklin

Top of page 267. Subroutine Check_IRs

▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔
- Stephen

Special_K

this is a basic code you will have to modify it more to do what you want.. but with this you should be able to see how the code is changed.


FREQOUT 8, 1, 38500 ' Check IR Detectors
irDetectLeft = IN9
FREQOUT 2, 1, 38500
irDetectRight = IN0

'add your new detector numbers here.
FREQOUT 3, 1, 38500 'maybe this
irDetectcenter = IN4 'maybe this

' Decide how to navigate.
IF (irDetectLeft = 0) AND (irDetectRight = 0) AND (irDetectcenter = 0)THEN
pulseLeft = 650
pulseRight = 850

ELSEIF (irDetectcenter = 0) THEN 'this would be if there is a small object in the center
pulseLeft = 650
pulseRight = 850
ELSEIF (irDetectLeft = 0) THEN
pulseLeft = 850
pulseRight = 850
ELSEIF (irDetectRight = 0) THEN
pulseLeft = 650
pulseRight = 650
ELSE
pulseLeft = 850
pulseRight = 650
ENDIF

PULSOUT 13,pulseLeft ' Apply the pulse.
PULSOUT 12,pulseRight
PAUSE 15