我有一个机器人表演舞蹈，我试图让它在舞蹈中，如果在任何时候机器人跑到墙上（我假设一个循环），它会在液晶屏上显示一些东西，备份然后回到原来的歌舞。我有一个跳舞的代码，但是我不知道如何在保险杠碰到它的情况下将该功能合并，转身，然后返回到用于歌舞的开关盒动作任务。 。有什么建议？？这是我到目前为止的歌舞代码：
//FOURTH OCTAVE NOTE FREQUENCIES
#define C4 261 // C note frequency
#define Cs4 277 // C sharp note frequency
#define D4 294 // D note frequency
#define Ds4 311 // D sharp note frequency
#define E4 329 // E note frequency
#define F4 349 // F note frequency
#define Fs4 370 // F sharp note frequency
#define G4 392 // G note frequency
#define Gs4 415 // G sharp note frequency
#define A4 440 // A note frequency
#define As4 466 // A sharp note frequency
#define B4 494 // B note frequency
//FIFTH OCTAVE NOTE FREQUENCIES
#define C5 523 // C note frequency
#define Cs5 554 // C sharp note frequency
#define D5 587 // D note frequency
#define Ds5 622 // D sharp note frequency
#define E5 659 // E note frequency
#define F5 698 // F note frequency
#define Fs5 740 // F sharp note frequency
#define G5 784 // G note frequency
#define Gs5 831 // G sharp note frequency
#define A5 880 // A note frequency
#define As5 932 // A sharp note frequency
#define B5 988 // B note frequency
//SIXTH OCTAVE NOTE FREQUENCIES
#define C6 1046 // note frequency
#define Cs6 1109 // sharp note frequency
#define D6 1175 // note frequency
#define Ds6 1245 // sharp note frequency
#define E6 1319 // note frequency
#define F6 1397 // note frequency
#define Fs6 1480 // sharp note frequency
#define G6 1568 // note frequency
#define Gs6 1661 // sharp note frequency
#define A6 1760 // note frequency
#define As6 1865 // sharp note frequency
#define B6 1976 // note frequency
//SEVENTH OCTAVE NOTE FREQUENCIES
#define C7 2093 // note frequency
#define Cs7 2217 // sharp note frequency
#define D7 2349 // note frequency
#define Ds7 2489 // sharp note frequency
#define E7 2637 // note frequency
#define F7 2794 // note frequency
#define Fs7 2960 // sharp note frequency
#define G7 3136 // note frequency
#define Gs7 3322 // sharp note frequency
#define A7 3520 // note frequency
#define As7 3729 // sharp note frequency
#define B7 3951 // note frequency
//EIGHTH OCTAVE NOTE FREQUENCIES
#define C8 4186 // note frequency
#define Cs8 4434 // sharp note frequency
#define D8 4699 // note frequency
#define Ds8 4978 // sharp note frequency
#define E8 5274 // note frequency
#define F8 5588 // note frequency
#define Fs8 5920 // sharp note frequency
#define G8 6272 // note frequency
#define Gs8 6645 // sharp note frequency
#define A8 7040 // note frequency
#define As8 7459 // sharp note frequency
#define B8 7902 // note frequency
#define P 0 //note frequency (a rest note)
//NOTE DURATION FACTORS (THEY MULTIPLY THE WHOLE NOTE DURATION)
#define N1 1.0 //whole note
#define N2 0.5 //half note
#define N2h 0.75 //dotted half note
#define N4 0.25 //quarter note
#define N4h 0.375 //dotted quarter note
#define N8 0.125 //eighth note
#define N8h 0.1875 //dotted eighth note
#define N16 0.0625 //sixteenth note
#define N16h 0.09375 //dotted sixteenth note
#define N32 0.03125 //thirty-secondth note
#define N32h 0.046875 //dotted thirty-secondth note
//declare and initialize arrays of note frequencies and note durations
int NotesF[] = { G6,P,G6,P,As6,P,C7,P,
G6,P,G6,P,F6,P,Fs6,P,
G6,P,G6,P,As6,P,C7,P,
G6,P,G6,P,F6,P,Fs6,P,
As6,G6,D6,P,As6,G6,Cs6,P,
As6,G6,C6,P,As5,C6,0};
float NotesD[] = { N8,N4,N8,N4,N8,N8,N8,N8,
N8,N4,N8,N4,N8,N8,N8,N8,
N8,N4,N8,N4,N8,N8,N8,N8,
N8,N4,N8,N4,N8,N8,N8,N8,
N8,N8,N1,N16,N8,N8,N1,N16,
N8,N8,N1,N8,N8,N8,0};
int index;
task motion();
void Rotate(int speed, int msecs);
void Drive(int speed, int msecs);
task main()
{
int freq;
float dur;
int beats; //beats per minutes (one beat = one quater-note)
int wholenote, quarternote;//duration of whole and quarter note in milliseconds
int tics; //duration in 10-millisecond tics needed by PlayTone( ) function
beats = 200;//tempo in beats per minute
quarternote = 1000*(60/(float)beats); //how many milliseconds
wholenote = 4*quarternote; //how many milliseconds
bPlaySounds = true;
nVolume = 2;
StartTask(motion);
//turn off voltage regulation for motor[0] (headlight is not a motor!)
nMotorPIDSpeedCtrl[0]= mtrNoReg;
index=0;
do
{
freq = NotesF[index];
dur = NotesD[index];
tics = (int)((wholenote*dur)/10);//how many 10 msec "tics"
PlayTone(freq, tics);
if(freq==0)
motor[0] = 0;//headlight OFF for rest notes
else
motor[0] = 100;//headlight ON for all other notes
wait10Msec(tics);
index = index+1;
}
while (NotesD[index] != 0); //duration-0 note marks end of song
StopTask(motion);
}
task motion()
{
int oldindex=-1; //initialize so first one won't match
//turn on speed regulation for accurate tracking
//between left and right wheel rotations
nMotorPIDSpeedCtrl[1] = mtrSpeedReg;
nMotorPIDSpeedCtrl[2] = mtrSpeedReg;
while(true)
{
if(index!=oldindex)//has note changed in main()?
{
oldindex = index;
switch(index)
{
case 0:
Drive(500,500);
break;
case 8:
Rotate(-75,500);
break;
case 16:
Rotate(-75,500);
break;
case 24:
Rotate(75,500);
break;
case 32:
Rotate(75,500);
break;
case 36:
Drive(500,500);
break;
case 40:
Rotate(75,500);
break;
case 48:
Rotate(75,500);
break;
case 56:
Rotate(-75,500);
break;
case 64:
Rotate(-75,500);
break;
case 72:
Rotate(-500,200);
break;
case 80:
Rotate(-500,200);
}
}
else
wait10Msec(5);
}
}
void Rotate(int speed, int msecs)
{
//set speeds
motor[1] = +speed;
motor[2] = -speed;
//wait for needed rotation time
wait1Msec(msecs);
//set motors back to 0 speed
motor[1] = 0;
motor[2] = 0;
}
void Drive(int speed, int msecs)
{
//set speeds
motor[1] = +speed;
motor[2] = +speed;
//wait for needed rotation time
wait1Msec(msecs);
//set motors back to 0 speed
motor[1] = 0;
motor[2] = 0;
}
答案 0 :(得分：1)
有两个控制变量，状态和时间。国家掌握了机器人正在做的事情，以及计时器为此做了多长时间。有一个外部while循环，并且在每次迭代中，检查机器人的状态。
这是一个如何运作的例子。
int state=1;
int timer=0;
while (true) {
if (state==0) {
//Walk away from wall
motor[0]=-30;
if (timer>2000) {
//State change
state=1;
timer=0;
}
}
if (state==1) {
//Dance
switch(timer) {
case 0:
motor[1]=40;
break;
case 800:
motor[0]=8;
break;
//rest of dance code.
}
if (has_hit_wall()) {
//State change
state=0;
timer=0;
}
}
wait1Msec(10);
timer+=1;
}
答案 1 :(得分：0)
您可以修改Drive()方法以检查保险杠传感器。如果保险杠碰到，那么你必须扭转一段时间。因此，改为wait1Msec(msec)而不是wait1Msec(1)，并使用循环来轮询保险杠。我认为Rotate()方法不会导致碰撞，但这取决于机器人的几何形状。
例如，
int bumper_hit = 0; /* "flag" to monitor in main() to stop song. */
void Drive(int speed, int msecs)
{
int i;
//set speeds
motor[1] = +speed;
motor[2] = +speed;
//wait for needed drive time, while checking bumper.
for(i = 0; i < msecs; i++) {
wait1Msec(1);
if(bumper()) {
bumper_hit = 1;
motor[1] = -speed;
motor[2] = -speed;
wait1Msec(msec); /* Maybe longer? */
bumper_hit = 0;
motor[1] = +speed; /* if you want to continue with this portion */
motor[2] = +speed;
/* break; */ /* if you want to stop the forward motion */
}
}
//set motors back to 0 speed
motor[1] = 0;
motor[2] = 0;
}
如果电机不支持反向运动，则可以旋转180°，向前驱动并再次旋转180°以保持相同的方向。我希望你玩得开心。