Chief Delphi - programming codewords

Chief Delphi (http://www.chiefdelphi.com/forums/index.php)

- Programming (http://www.chiefdelphi.com/forums/forumdisplay.php?f=51)

- - programming codewords (http://www.chiefdelphi.com/forums/showthread.php?t=34441)

programming codewords

I'm lost. A first time programmer and our team doesn't know where our sheet of the codewords is. Also, I can't find anyone who has it. If anybody has the paper and can put it into a reply would be great.

Re: programming codewords

Quote:

Originally Posted by black mage

I'm lost. A first time program and our team doesn't know where our sheet of the codewords is. Also, I can't find anyone who has it. If anybody has the paper and can put it into a reply would be great.

You mean you don't know how to program. I don't quite understand your question. If you need help with overall programming in general, feel free to contact via aim(teknobramha).

Re: programming codewords

What I'm trying to say is the sheet with the programming codewords
(you know, the turn left turn right end things) is lost in our group. I'm trying to see if anyone out there has it on their computer and can send it over.

Re: programming codewords

Quote:

Originally Posted by black mage

If I am not mistaken, this is what you're looking for. This is directly from the navigation code released on 1-8-05. Make sure you're using a gyro and encoders.

Code:

   /**********************/

  /* Command Dictionary */

 /**********************/

 

 /*

 The command dictionary is a list of commands that can be put in a 

 sequence to make it easy to program the autonomous motion of the robot.

 Each command has a define statement and a function prototype associated

 with it.  The define value is used in the command list to identify

 the commands.  The function is defined in robot.c  

 

 If you want to add your own commands, create a define with a new number

 and list the function prototype here.  Then go to robot.c to write

 your code.

 

 Each command has 0 to 3 parameters.  Just fill in zeros for unused 

 parameters in the command list. 

 */

 

 /* The NULL command is used to end the command list.  You must

    have a NULL command as the last command in your command list

    so that the command processor knows when to stop. */  

 #define NULL                                  0

 

 /* CMD_SHOW_STATE will display the current position and heading

    of the robot to the programming host.  It is useful for debugging

    your driving. It takes no parameters */

 #define CMD_SHOW_STATE                1

 int cmd_show_state(void);

 

 /* CMD_VELOCITY takes one parameter, the velocity in mm/sec.  The 

    robot will remain at this velocity until you give it a CMD_STOP. */

 #define CMD_VELOCITY                  2

 int cmd_velocity(void);

 

 /* CMD_WAIT takes one parameter, the time to wait in milliseconds.  It

    will not let the next command start until that much time has elapsed.

    You might want to use it after a CMD_VELOCITY or CMD_DRIVE to let

    them finish before going on. */

 #define CMD_WAIT                          3

 int cmd_wait(void);

 

 /* CMD_WAIT_UNTIL takes one parameter, the time from the start of the

    match.  The robot will not go on to the next command until that

    much time has elapsed.  This might be useful if you want your robot

    to sit still until 5 seconds into the match (to let the other robots

    get out of the way???). */

 #define CMD_WAIT_UNTIL                4

 int cmd_wait_until(void);

 

 /* CMD_DRIVE takes one parameter, a distance in mm.  The robot will

    drive straight that distance and try to maintain the position. */

 #define CMD_DRIVE                         5

 int cmd_drive(void);

 

 /* CMD_TURN takes two parameters, an angle to turn through and a

    tolerance, both in milliradians.  */

 #define CMD_TURN                          6

 int cmd_turn (void);

 

 /* CMD_GOTO_WAYPOINT is not yet implemented (maybe when we get trig

    functions ;-) */

 #define CMD_GOTO_WAYPOINT         7

 int cmd_goto_waypoint(void);

 

 /* CMD_SET_POS is not yet implemented (maybe when we get trig

    functions ;-) */

 #define CMD_SET_POS                   8

 int cmd_set_pos(void);

 

 /* CMD_SET_HEADING is not yet implemented (maybe when we get trig

    functions ;-) */

 #define CMD_SET_HEADING           9

 int cmd_set_heading(void);

 

 /* CMD_WAIT_FOR_BUMP takes no parameters.  It will wait until it sees

    a signal from the bump sensor or the trigger to continue to the next 

    command.  This is useful for debugging by waiting between commands

    until you hit the bump sensor, or the trigger.  It is also useful 

    for driving until you hit something.  */

 #define CMD_WAIT_FOR_BUMP         10

 int cmd_wait_for_bump(void);

 

 /* CMD_STOP takes no parameters. It just stops driving.  */

 #define CMD_STOP                          11

 int cmd_stop(void);

 

 /* CMD_JUMP takes one parameter a command list position.  It is used

    to jump around in the command list.  Note: the command list starts

    with command number 0.  This is C after all. */

 #define CMD_JUMP                          12

 int cmd_jump(void);

 

 /* CMD_GYRO_BIAS sets the gyro bias.  It takes no parameters.  Run this

    while stopped before using the gyro.  It should calibrate out any

    drift.  */

 #define CMD_GYRO_BIAS                 13

 int cmd_gyro_bias(void);

 

 /* CMD_KEEP_HEADING takes two parameters, a timeout and a tolerance.  It

    is a demonstration of the robot maintaining position and orientation.

    While this command is active, the robot will fight against any attempt

    to move it.  */

 #define CMD_KEEP_HEADING          14

 int cmd_keep_heading(void);

Re: programming codewords

How do I put the keywords into the program? Would it be...

casepoint1:
CMD_VELOCITY: (whatever number I need)

or would it be in a different format?
Please!!!! I Need Help! But we don't have a teacher who knows programming who comes!

Re: programming codewords

You would place them into an array and run a function that uses the array like so:
commands.h:

Code:

struct commands command_list[] = {

/*   Command                          parm 1         parm 2   parm 3   */

{CMD_GYRO_BIAS,                           0,                0,          0},

{CMD_WAIT_FOR_BUMP,                 100,                0,          0},

{CMD_WAIT,                                 1000,                0,          0},

{CMD_TURN,           -1571L,          100,          0},

{CMD_WAIT_FOR_BUMP,                 100,                0,          0},

{CMD_WAIT,                                 1000,                0,          0},

{CMD_TURN,                1571,          100,          0},

{CMD_JUMP,                                        1,                0,          0},

{NULL,                                                0,                0,          0}

};

Re: programming codewords

Do you know how to say that in lay man's terms?

And are their other codes that don't use the gyro and encoder?
Because I use the
casepoint1:
pwm01 = 240
pwm02 = 170
break;

format...

Re: programming codewords

Quote:

Originally Posted by black mage

Do you know how to say that in lay man's terms?

And are their other codes that don't use the gyro and encoder?
Because I use the
casepoint1:
pwm01 = 240
pwm02 = 170
break;

format...

If you want to do a state machine (use your switch statement), then you can't use the scripting code which comes with the default code.

Re: programming codewords

BRAIN!!!!!!!!! THE FLEXNARG DOES THAT MEAN????? :ahh:

So... calm... down....
How would I put the wheel to go a certain distance? And can you show what it would look like.

Re: programming codewords

I think you'll be better off if you IM me or something. My screenname is TeknoBramha or look at my profile for more info.