// Jet // TAB FILE > JAvarsCons49.h -> JAvarsCons54.h /*== NEW ==================================================== //Jet const byte pacebyScale =4 ; //Servodegrees = pacebyCmnd *pacebyScale, 4 gives a maximum of 36, default 15 const byte turnbyScale =4 ; //Servodegrees = turnbyCmnd *pacebyScale, 4 gives a maximum of 36, default 15 const byte rollbyScale =4 ; //Servodegrees = rollbyCmnd *pacebyScale, 4 gives a maximum of 36, default 15 //== CHANGED================================================= */ //=========================================================== //EEPROM addresses const byte E8f_walking =255; //31 - 0,1 init -> f_walking const byte E8rollC =254; //30 - init -> rollC const byte E8paceC =253; //29 - init -> paceC const byte E8rollby =252; //28 - init -> rollby const byte E8paceby =251; //27 - init -> paceby, turnby const byte E8rollmin =250; //26 - nominal minimum roll value, not used at present const byte E8rollmax =249; //25 - nominal maximum roll value, not used at present const byte E8pacemin =248; //24 - nominal minimum roll value, not used at present const byte E8pacemax =247; //23 - nominal maximum roll value, not used at present const byte E8rgroup =246; //22 - 'A-Z init(A) -> rgroup const byte E8rname =245; //21 - '0-9' init(0) -> rname const byte E8autoAct =244; //20 - '0-8' const byte E8SonarAwareAt =243; //19 - 1-9 init(5) -> SonarAwareAt const byte E8SonarTooNear =242; //18 - 1-9 init(2) -> SonarTooNear const byte E8f_cm =241; //17 - true, false init const byte E8rollspeedmax =240; //16 - init const byte E8pacespeedmax =239; //15 - init const byte E8rollspeed =238; //14 - 1-9 init const byte E8pacespeed =237; //13 - 1-9 init const byte E8Greact =236; //12 - 0,1 Ground react const byte E8Wreact =235; //11 - 0,1 Whiskers react const byte E8Ureact =234; //10 - 0,1 Ultrasonic react const byte E8AutoSense =233; //10 - 0,1 // 224 is default behaviour marker //addresses within a behaviour slot, base is BehaviourEEbase const byte Es31f_walking =31; const byte Es30rollC =30; // adjust servos const byte Es29paceC =29; // adjust servos const byte Es28rollby =28; // adjust servos const byte Es27paceby =27; // adjust servos const byte Es26rollmin =26; // adjust servos but never used const byte Es25rollmax =25; // adjust servos but never used const byte Es24pacemin =24; // adjust servos but never used const byte Es23pacemax =23; // adjust servos but never used const byte Es22rgroup =22; // 'bs' via 'b#' const byte Es21rname =21; // 'bs' via 'b#' const byte Es20autoAct =20; // 'bs' via 'ba' const byte Es19SonarAwareAt =19; // 'bs' via 'bus' const byte Es18SonarTooNear =18; // 'bs' via 'bus' const byte Es17f_cm =17; // 'bs' via 'bc0','bc1' const byte Es16rollspeedmax =16; // 'bs' via 'sm','srm' const byte Es15pacespeedmax =15; // 'bs' via 'sm','spm' const byte Es14rollspeed =14; // 'bs' via 'sr' const byte Es13pacespeed =13; // 'bs' via 'sp' const byte Es12Greact =12; // 'bs' via 'bG' const byte Es11Wreact =11; // 'bs' via 'bW' const byte Es10Ureact =10; // 'bs' via 'bU' const byte Es9AutoSense =9; // 'bs' via 'b$' // 0 is default behaviour marker ' ','@' //== VARIABLES and CONSTANTS ================================ //BEHAVIOUR char autoAct ='0' ; byte SonarTooNear ; // init =EEPROM(2), 'bu(m)-', units 50mm/2inch, objects nearer will be considered as Too Near and avoided byte SonarAwareAt ; // init =EEPROM(5), 'bu(m)+', units 50mm/2inch, objects nearer will avoided, objects farther away will be ignored /*these behaviour variable are declared below const byte Servoframe =20; // Servo frame rate millisecs const byte maxroll =50; // physically max roll //Jet const byte maxpace =50; // physically max pace //Jet byte rollC =90; // roll centre = 90 degrees (ie 1500us) => upright byte paceC =90; // pace centre = 90 degrees (ie 1500us) => feet together byte rollby ; // roll angles about rollC byte paceby ; // pace angles about paceC byte turnby; // servo turn angles about paceC byte rollspeed ; // roll servo speed byte pacespeed ; // pace servo speed byte rollspeedmax ; // max speed for speedup() byte pacespeedmax ; // max speed for speedup() */ //MIND boolean f_walking ; // 1=> walking enabled , 0=> walking disabled boolean f_bv =0; //verbose, light level reporting of sensors, 0=off, 1=on boolean f_BeQuiet ; // 1-> status messages off boolean f_MsgForMe ; // 0-> messages are for other robots boolean f_hashcmnd =0 ;// processing a hash command boolean f_hashhashSTOP ; // ##Stop from external commander boolean f_TurnedRight ; // 1=> last turn was Right, 0=> last turn was Left boolean f_forwards =1 ;// current direction, 1=>forwards, 0=>backwards, controls step direction in turns boolean f_turning =0 ;// controls pace in paceRightForward()) and paceRightBackwards() when turning, f_turning =1 =>turning boolean f_AtLight ; // true if facing Light boolean f_AtDark ; // true if facing Dark boolean f_holeRight ; // 0=> no hole, 1=> hole eg a table edge, boolean f_holeLeft ; // 0=> no hole, 1=> hole eg a table edge boolean f_obstacleRight ; // 0=> no obstacle, 1=> obstacle boolean f_obstacleLeft ; // 0=> no obstacle, 1=> obstacle boolean f_doDefault =true; //true for the first loop and #< only boolean f_bG =0; //Ground react control boolean f_bW =0; //Whiskers react control boolean f_bU =0; //Ultrasonic react control boolean f_bAutoSense =0; //auto sense before every command except when recording or in a #command, b$0=off, b$1=on boolean f_hashwalking ; //saved value during ## boolean f_hashbAutoSense; //saved value during ## boolean f_hashrunDefault; //saved value during ## byte cmnd =0 ; // current command char rname ; // robot name char rgroup ; // robot group //SERVOS //Servo values are in units of 1 degree, 0 - 180, centre at 90" const byte Servoframe =20; // Servo frame rate millisecs const byte maxroll =60; // physically max roll //Jet horn inline with tilt wire const byte maxpace =60; // physically max pace //Jet tilt wires hit legs byte rollC =90; // roll centre = 90 degrees (ie 1500us) => upright byte paceC =90; // pace centre = 90 degrees (ie 1500us) => feet together byte rollat ; // Roll servo position, +ve roll to right byte paceat ; // Pace servo position, +ve left foot forwards byte rollby ; // roll angles about rollC byte paceby ; // pace angles about paceC byte turnby; // servo turn angles about paceC byte rollspeed ; // roll servo speed byte pacespeed ; // pace servo speed byte rollspeedmax ; // max speed for speedup() byte pacespeedmax ; // max speed for speedup() byte rollto ; // roll servo value to move to byte paceto ; // pace servo value to move to byte Srollat ; // remember rollat when walking disabled byte Spaceat ; // remember paceat when walking disabled //Bambino /* const byte pacebyScale =2 ; //Servodegrees = pacebyCmnd *pacebyScale, 2 gives a maximum of 18, default 15 const byte turnbyScale =2 ; //Servodegrees = turnbyCmnd *pacebyScale, 2 gives a maximum of 18, default 15 const byte rollbyScale =2 ; //Servodegrees = rollbyCmnd *pacebyScale, 2 gives a maximum of 18, default 15 */ //Jet const byte pacebyScale =4 ; //Servodegrees = pacebyCmnd *pacebyScale, 4 gives a maximum of 36, default 15 const byte turnbyScale =4 ; //Servodegrees = turnbyCmnd *pacebyScale, 4 gives a maximum of 36, default 15 const byte rollbyScale =4 ; //Servodegrees = rollbyCmnd *pacebyScale, 4 gives a maximum of 36, default 15 //== SENSORS ================================================ //Eyes int ReyeLight ; // light level read from R whisker light sensors, integer values between 0 and 1023 int LeyeLight ; // light level read from L whisker light sensors, integer values between 0 and 1023 const byte LeftRightLightTurnThreshold =10 ; // difference% between LeyeLight and ReyeLight for a Light turn //=========================================================== //Whiskers int RwhiskerLight; // reading from Right whisker sensor, LED on, integer values between 0 and 1023 int LwhiskerLight ; // reading from Left whisker sensor, LED on, integer values between 0 and 1023 int RwhiskerDark ; // reading from Right whisker sensor, LED off, integer values between 0 and 1023 int LwhiskerDark ; // reading from Left whisker sensor, LED off, integer values between 0 and 1023 int RwhiskerDifference ; // difference between RwhiskerLight and RwhiskerDark int LwhiskerDifference ; // difference between LwhiskerLight and LwhiskerDark const byte obstacleThresholdRight =20 ; // difference between RwhiskerLight and RwhiskerDark for an obstacle const byte obstacleThresholdLeft =20 ; // difference between LwhiskerLight and LwhiskerDark for an obstacle //=========================================================== #ifdef Jet //ToeWhiskers //54 int RtoeWhiskerLight ; // reading from Right beard sensor, LED on, integer values between 0 and 1023 int LtoeWhiskerLight ; // reading from Left beard sensor, LED on, integer values between 0 and 1023 int RtoeWhiskerDark ; // reading from Right beard sensor, LED off, integer values between 0 and 1023 int LtoeWhiskerDark ; // reading from Left beard sensor, LED off, integer values between 0 and 1023 int RtoeWhiskerDifference ; // difference between RbeardLight and RbeardDark int LtoeWhiskerDifference ; // difference between LbeardLight and LbeardDark const byte toeObstacleThresholdRight =40 ; // difference between RtoeWhiskerLight and RtoeWhiskerDark for an obstacle const byte toeObstacleThresholdLeft =40 ; // difference between LtoeWhiskerLight and LtoeWhiskerDark for an obstacle //=========================================================== #else //Beard int RbeardLight ; // reading from Right beard sensor, LED on, integer values between 0 and 1023 int LbeardLight ; // reading from Left beard sensor, LED on, integer values between 0 and 1023 int RbeardDark ; // reading from Right beard sensor, LED off, integer values between 0 and 1023 int LbeardDark ; // reading from Left beard sensor, LED off, integer values between 0 and 1023 int RbeardDifference ; // difference between RbeardLight and RbeardDark int LbeardDifference ; // difference between LbeardLight and LbeardDark const byte holeThresholdRight =10 ; // difference between RbeardLight and RbeardDark for a hole const byte holeThresholdLeft =10 ; // difference between LbeardLight and LbeardDark for a hole #endif //=========================================================== // Ultrasonic module HC-SR04 // According to Parallax's datasheet for the PING))), // See: http://www.parallax.com/dl/docs/prod/acc/28015-PING-v1.3.pdf // sound travels at 1130 feet per second, i.e. 73.746 microseconds per inch // (or the speed of sound is 340 m/s or 29 microseconds per centimeter). // This gives the distance travelled by the ping, outbound and return, // so we divide by 2 to get the distance of the obstacle // and then divide by 29 to get cm or divide by 73.746 to get inches, // i.e. divide by 2*29=58 to get cm, // or divide by 2*73.746=147.492 =>147 to get inches. // Note the output of the HC_SR04 never goes LOW unless an echo is received. // The default time-out for pulseIn() is 1 second (Arduino language reference). // so if there is no obstacle to return an echo then unless a timeout is set // pulseIn() will return 0 after its timer times out and this routine // will hang for 1 second. // The HC-SR04 has a range of about 10 feet, then since the speed of sound // is about 1 foot per milli-second it will take 20ms at maximum range. // so UStimeout is set to 20000 =20ms const int UStimeout =20000; //20ms const byte uscm =58; const byte usinch =147; boolean f_cm =true; // US distance in cm int UStime; //pulsein usec int Udist; //conversion cm or inch byte objectRange ; // 2"/5cm distance range to object detected by HC-SR04 sensor //===========================================================