Need help with code

Robocop

I'm trying to modify the roaming with IR on the BOE BOT to escape corners. I have tried using arrays and other techniques, but no luck. Any help would be appreciated. Thanks

Zoot

Here's a tip -- check out the code in Robotics with the Boe-bot for roaming with whiskers -- there is code there for escaping corners when navigating with the tactile sensors. The same concept can be applied to roaming with IR.

In pseudo-code:

if IRleft then
   turn right
   if oldIR = right
       count = count + 1
   else
       count = 0
    endif
   oldIR = left
else if IRright then
   turn left
   if oldIR = left
       count = count + 1
    else
        count = 0
     endif
    oldIR = right
endif

if count > 3 then 'or however many bounces back and forth you want to limit it to
    backup and turnaround
    count = 0
endif

Make sense? Basically you want to add to your count ONLY if the last thing you did was an IR avoid from the OTHER side (so you are counting the times you are bouncing back and forth between left/right IR avoids). If the count gets too big, do something else.

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When the going gets weird, the weird turn pro. -- HST

Robocop

It worked!! Thanks

Henrymou

boe bots are fun!
I won the synopsis science fair last year for doing what you are doing, once you are done with that project, try adding a CMUcam! for vision
-peace