Quote:
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Originally Posted by black mage
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.
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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);