我正在使用声纳传感器来制造避开机器人的障碍物。机器人需要能够检查前面180度,所以我已经做了一个" head"传感器安装在一个连接到电动机的传感器上,一个轴穿过电位计。我找到了5组45度间隔的电位计值,总共需要180度并记录。声纳传感器必须能够扫描一段距离然后移动45度,重复该过程直到它达到180度(向右)只有一旦到达该旋转点,扫描距离被放入一个阵列以供使用要在以后开发的避免任务。 然而,声纳传感器在磁头实际达到指定角度之前存储某些角度的值。 Obstacle Avoidance Robot (Head rotation system in the middle)
#pragma config(Sensor, in1, headrot, sensorPotentiometer)
#pragma config(Sensor, dgtl1, fsonar, sensorSONAR_inch)
#pragma config(Sensor, dgtl3, bsonar, sensorSONAR_inch)
#pragma config(Sensor, dgtl5, steerrot, sensorQuadEncoder)
#pragma config(Sensor, dgtl7, wheelrot, sensorQuadEncoder)
#pragma config(Motor, port2, head, tmotorVex393_MC29, openLoop)
#pragma config(Motor, port4, drivem, tmotorVex393_MC29, openLoop)
#pragma config(Motor, port5, steer, tmotorVex393_MC29, openLoop)
int headrotationspeed = 25;
int frontscandistance[5]; //Array that hold each of the 5 angles at 45 degree intervals
int headangle =0;
task avoidance()
{
}
task frontscanner()
{
//0 Degrees = 3500
//45 Degrees = 2800
//90 Degrees = 1900
//135 Degrees = 1200
//180 Degrees = 530
while(true)
{
switch(headangle)
{
case 0:
while(SensorValue[headrot]<3500 && SensorValue[headrot]>3400)
{
motor[head]=-headrotationspeed;
}
motor[head]=0;
frontscandistance[0] = SensorValue[fsonar];
headangle+=45;
break;
case 45:
while(SensorValue[headrot]<2800 && SensorValue[headrot]<2700)
{
motor[head]=headrotationspeed;
}
motor[head]=0;
frontscandistance[1] = SensorValue[fsonar];
headangle+=45;
break;
case 90:
while(SensorValue[headrot]<1900 && SensorValue[headrot]<1800)
{
motor[head]=headrotationspeed;
}
motor[head]=0;
frontscandistance[2] = SensorValue[fsonar];
headangle+=45;
break;
case 135:
while(SensorValue[headrot]<1200 && SensorValue[headrot]<1100)
{
motor[head]=headrotationspeed;
}
motor[head]=0;
frontscandistance[3] = SensorValue[fsonar];
headangle+=45;
break;
case 180:
while(SensorValue[headrot]<550 && SensorValue[headrot]<440)
{
motor[head]=headrotationspeed;
}
motor[head]=0;
frontscandistance[4] = SensorValue[fsonar];
headangle=0;
break;
}
}
}
task main()
{
startTask(frontscanner);
}
即使编程似乎正确,一旦头部分别击中每个45度间隔,声纳不会扫描。是什么导致数组在while循环完成将头部定位到适当的角度之前存储值?
答案 0 :(得分:0)
首先,您的缩进已关闭。这不是一个好习惯,因为它可能会导致无意中将代码块放在循环中。
要回答您的问题,在执行第一个案例后,所有其他while循环都会检查该值是否小于您的上限和下限。第一种情况不会这样做。
以下是您的代码,但已实现上述更改。
#pragma config(Sensor, in1, headrot, sensorPotentiometer)
#pragma config(Sensor, dgtl1, fsonar, sensorSONAR_inch)
#pragma config(Sensor, dgtl3, bsonar, sensorSONAR_inch)
#pragma config(Sensor, dgtl5, steerrot, sensorQuadEncoder)
#pragma config(Sensor, dgtl7, wheelrot, sensorQuadEncoder)
#pragma config(Motor, port2, head, tmotorVex393_MC29, openLoop)
#pragma config(Motor, port4, drivem, tmotorVex393_MC29, openLoop)
#pragma config(Motor, port5, steer, tmotorVex393_MC29, openLoop)
int headrotationspeed = 25;
int frontscandistance[5]; //Array that hold each of the 5 angles at 45 degree intervals
int headangle =0;
task avoidance()
{
}
task frontscanner()
{
//0 Degrees = 3500
//45 Degrees = 2800
//90 Degrees = 1900
//135 Degrees = 1200
//180 Degrees = 530
while(true)
{
switch(headangle)
{
case 0:
while(SensorValue[headrot]>3500 || SensorValue[headrot]<3400)
{
motor[head]=-headrotationspeed;
}
motor[head]=0;
frontscandistance[0] = SensorValue[fsonar];
headangle+=45;
break;
case 45:
while(SensorValue[headrot]>2800 || SensorValue[headrot]<2700)
{
motor[head]=headrotationspeed;
}
motor[head]=0;
frontscandistance[1] = SensorValue[fsonar];
headangle+=45;
break;
case 90:
while(SensorValue[headrot]>1900 || SensorValue[headrot]<1800)
{
motor[head]=headrotationspeed;
}
motor[head]=0;
frontscandistance[2] = SensorValue[fsonar];
headangle+=45;
break;
case 135:
while(SensorValue[headrot]>1200 || SensorValue[headrot]<1100)
{
motor[head]=headrotationspeed;
}
motor[head]=0;
frontscandistance[3] = SensorValue[fsonar];
headangle+=45;
break;
case 180:
while(SensorValue[headrot]>550 || SensorValue[headrot]<440)
{
motor[head]=headrotationspeed;
}
motor[head]=0;
frontscandistance[4] = SensorValue[fsonar];
headangle=0;
break;
}
}
}
task main()
{
startTask(frontscanner);
}
另外,我想指出的是,只有当测量值在所需范围内时,才会编写代码来转动机器人的头部。如果在头部超出所需范围的情况下执行任何情况,则头部将不会移动。如果我理解正确,你想要相反。
下面的代码包含的修改不仅要在头部超出所需范围时转动头部,还要自动将头部转向所需方向。
#pragma config(Sensor, in1, headrot, sensorPotentiometer)
#pragma config(Sensor, dgtl1, fsonar, sensorSONAR_inch)
#pragma config(Sensor, dgtl3, bsonar, sensorSONAR_inch)
#pragma config(Sensor, dgtl5, steerrot, sensorQuadEncoder)
#pragma config(Sensor, dgtl7, wheelrot, sensorQuadEncoder)
#pragma config(Motor, port2, head, tmotorVex393_MC29, openLoop)
#pragma config(Motor, port4, drivem, tmotorVex393_MC29, openLoop)
#pragma config(Motor, port5, steer, tmotorVex393_MC29, openLoop)
int headrotationspeed = 25;
int frontscandistance[5]; //Array that hold each of the 5 angles at 45 degree intervals
int headangle =0;
int reverse = 1 //Set this to -1 if the motor is turning in the wrong direction.
task avoidance()
{
}
task frontscanner()
{
//0 Degrees = 3500
//45 Degrees = 2800
//90 Degrees = 1900
//135 Degrees = 1200
//180 Degrees = 530
while(true)
{
switch(headangle)
{
case 0:
while(SensorValue[headrot]<3500 && SensorValue[headrot]>3400)
{
motor[head]=headrotationspeed*reverse*(3500-SensorValue[headrot]/abs(3500-SensorValue[headrot]));
}
motor[head]=0;
frontscandistance[0] = SensorValue[fsonar];
headangle+=45;
break;
case 45:
while(SensorValue[headrot]<2800 && SensorValue[headrot]>2700)
{
motor[head]=headrotationspeed*reverse*(2800-SensorValue[headrot]/abs(3500-SensorValue[headrot]));
}
motor[head]=0;
frontscandistance[1] = SensorValue[fsonar];
headangle+=45;
break;
case 90:
while(SensorValue[headrot]<1900 && SensorValue[headrot]>1800)
{
motor[head]=headrotationspeed*reverse*(1900-SensorValue[headrot]/abs(3500-SensorValue[headrot]));
}
motor[head]=0;
frontscandistance[2] = SensorValue[fsonar];
headangle+=45;
break;
case 135:
while(SensorValue[headrot]<1200 && SensorValue[headrot]>1100)
{
motor[head]=headrotationspeed*reverse*(1200-SensorValue[headrot]/abs(3500-SensorValue[headrot]));
}
motor[head]=0;
frontscandistance[3] = SensorValue[fsonar];
headangle+=45;
break;
case 180:
while(SensorValue[headrot]<550 && SensorValue[headrot]>440)
{
motor[head]=headrotationspeed*reverse*(550-SensorValue[headrot]/abs(3500-SensorValue[headrot]));
}
motor[head]=0;
frontscandistance[4] = SensorValue[fsonar];
headangle=0;
break;
}
}
}
task main()
{
startTask(frontscanner);
}
此外,我强烈推荐VEX论坛(见https://www.vexforum.com/),以用于涉及vex的未来问题。它更专注于您的需求。我的用户名是Tark1492。如果您遇到有关RobotC的特定问题,请随时直接给我发消息。