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Bots /The Ultimate Palm Robot/ Mukhar & Johnson / 222880-6 / Chapter 8

Chapter 8 Taking Control of the BrainStem Robot 209

switch (b)
{
case 1:
aPPRK_Go(0,SPEEDL,-SPEEDL,0);
b=1;
break;
case 2:
aPPRK_Go(-SPEEDL,0,SPEEDL,0);
b=1;
break;
case 4:
aPPRK_Go(SPEEDL,-SPEEDL,0,0);
b=1;
break;
default:
b=0;
break;
}
Finally, as seen in the following code, if b is 0 (meaning no sensor detected an
object, or more than one sensor detected an object), the servos are commanded to
rotate the robot. Otherwise, only a single sensor detected an object, and the else
block waits for half a second, stops the servos, and waits for another half second.
From there, the program jumps back to the start of the loop.

if (b==0)
{
aPPRK_Go(0,0,0,SPEEDR);
}
else
{
aCore_Sleep(5000);
aPPRK_Go(0,0,0,0);
aCore_Sleep(5000);
}
}
}
In summary, this program causes the robot to spin around until it sees an
object with one sensor. It then moves toward that object. If it loses the object,
or if it detects objects with more than one sensor, it reverts to spinning again.

P:\010Comp\Bots\880-6\ch08.vp
Monday, May 12, 2003 1:16:45 PM