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Merge pull request #54 from zfi/BlocklyProp
Renamed and move directories
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‎Learn/Examples/Robots/ActivityBot/AB Interpreter.c

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/*
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AB Interpreter.c
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Fetches text commands from file on SD card, interprets them,
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and executes maneuvers. Requires abdrive 0.5.5 from
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ActivityBot library 2013-10-31 or later.
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http://learn.parallax.com/activitybot/text-file-maneuver-list
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*/
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#include "simpletools.h" // Library includes
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#include "abdrive.h"
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FILE *fp; // File pointer for SD
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char str[512]; // File buffer
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char cmdbuf[10]; // Command buffer
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char valbuf[4]; // Text value buffer
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int val; // Value
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int main() // Main function
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{
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int DO = 22, CLK = 23; // SD I/O pins
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int DI = 24, CS = 25;
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sd_mount(DO, CLK, DI, CS); // Mount SD file system
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fp = fopen("navset.txt", "r"); // Open navset.txt
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fread(str, 1, 512, fp); // navset.txt -> str
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int strLength = strlen(str); // Count chars in str
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int i = 0; // Declare index variable
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drive_speed(0, 0); // Speed starts at 0
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while(1) // Loop through commands
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{
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// Parse command
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while(!isalpha(str[i])) i++; // Find 1st command char
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sscan(&str[i], "%s", cmdbuf); // Command -> buffer
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i += strlen(cmdbuf); // Idx up by command char count
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if(!strcmp(cmdbuf, "end")) break; // If command is end, break
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// Parse distance argument
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while(!isdigit(str[i])) i++; // Find 1st digit after command
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sscan(&str[i], "%s", valbuf); // Value -> buffer
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i += strlen(valbuf); // Idx up by value char count
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val = atoi(valbuf); // Convert string to value
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// Execute command
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if(strcmp(cmdbuf, "forward") == 0) // If forward
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drive_goto(val, val); // ...go forward by val
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else if(strcmp(cmdbuf, "backward") == 0) // If backward
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drive_goto(-val, -val); // ... go backward by val
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else if(strcmp(cmdbuf, "left") == 0) // If left
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drive_goto(-val, val); // ...go left by val
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else if(strcmp(cmdbuf, "right") == 0) // If right
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drive_goto(val, -val); // ... go right by val
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}
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fclose(fp); // Close SD file
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}

‎Learn/Examples/Robots/ActivityBot/AB Interpreter.side

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AB Interpreter.c
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>compiler=C
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>memtype=cmm main ram compact
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>optimize=-Os
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>-m32bit-doubles
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>-fno-exceptions
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>defs::-std=c99
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>-lm
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>BOARD::ACTIVITYBOARD

‎Learn/Examples/Robots/ActivityBot/ActivitiyBot Display Calibration.c

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/*
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ActivityBot Display Calibration.c
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Display interpolation table values from calibration
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http://learn.parallax.com/activitybot/calibrate-your-activitybot
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*/
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#include "simpletools.h"
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#include "abdrive.h"
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int main()
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{
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drive_displayInterpolation();
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}

‎Learn/Examples/Robots/ActivityBot/ActivitiyBot Display Calibration.side

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ActivitiyBot Display Calibration.c
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>compiler=C
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>memtype=cmm main ram compact
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>optimize=-Os
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>-m32bit-doubles
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>-fno-exceptions
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>defs::-std=c99
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>-lm
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>BOARD::ACTIVITYBOARD

‎Learn/Examples/Robots/ActivityBot/ActivityBot Calibrate.c

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/*
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ActivityBot Calibrate.c
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Calibrate the ActivityBot's servos and encoders
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http://learn.parallax.com/activitybot/calibrate-your-activitybot
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*/
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#include "simpletools.h"
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#include "abcalibrate.h"
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int main()
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{
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cal_servoPins(12, 13);
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cal_encoderPins(14, 15);
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high(26);
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high(27);
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cal_activityBot();
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low(26);
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low(27);
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}

‎Learn/Examples/Robots/ActivityBot/ActivityBot Calibrate.side

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ActivityBot Calibrate.c
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>compiler=C
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>memtype=cmm main ram compact
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>optimize=-Os
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>-m32bit-doubles
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>-fno-exceptions
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>defs::-std=c99
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>-lm
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>BOARD::ACTIVITYBOARD

‎Learn/Examples/Robots/ActivityBot/Center Servos.c

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/*
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Center Servos.c
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This program can be run if ActivityBot Display Calibration shows that one of
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the servos has a zero Encoder Ticks/Second that's more than +/- 30 from
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the zero in the Servo Drive column.
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This program sends a 1500 us pulses to the left and right servos. With the
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PWR switch set to 2, adjust the servos to stay still in in response to these
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signals by using a Philips screwdriver to turn the potentiometer adjusting
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screw under the hole in the case adjacent to the servo’s cable.
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IMPORTANT: After both servos have been adjusted, repeat the procedure in
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http://learn.parallax.com/activitybot/calibrate-your-activitybot
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*/
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#include "simpletools.h"
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#include "servo.h"
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int main()
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{
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servo_set(13, 1500);
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servo_set(12, 1500);
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print("Use a screwdriver to adjust ActivityBot's servos\n");
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print("to stop with PWR set to 2.\n\n");
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print("Then, make sure to follow the procedure on\n");
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print("http://learn.parallax.com/activitybot/calibrate-your-activitybot.\n");
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}
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‎Learn/Examples/Robots/ActivityBot/Center Servos.side

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Center Servos.c
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>compiler=C
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>memtype=cmm main ram compact
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>optimize=-Os
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>-m32bit-doubles
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>-fno-exceptions
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>defs::-std=c99
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>-lm
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>BOARD::ACTIVITYBOARD

‎Learn/Examples/Robots/ActivityBot/Detect and Turn from Obstacle.c

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/*
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Detect and Turn from Obstacle.c
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Detect obstacles in the ActivityBot's path, and turn a random direction to avoid them.
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http://learn.parallax.com/activitybot/roaming-ultrasound
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*/
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#include "simpletools.h" // Include simpletools header
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#include "abdrive.h" // Include abdrive header
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#include "ping.h" // Include ping header
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int turn; // Navigation variable
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int main() // main function
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{
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drive_setRampStep(10); // 10 ticks/sec / 20 ms
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drive_ramp(128, 128); // Forward 2 RPS
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// While disatance greater than or equal
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// to 20 cm, wait 5 ms & recheck.
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while(ping_cm(8) >= 20) pause(5); // Wait until object in range
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drive_ramp(0, 0); // Then stop
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// Turn in a random direction
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turn = rand() % 2; // Random val, odd = 1, even = 0
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if(turn == 1) // If turn is odd
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drive_speed(64, -64); // rotate right
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else // else (if turn is even)
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drive_speed(-64, 64); // rotate left
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// Keep turning while object is in view
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while(ping_cm(8) < 20); // Turn till object leaves view
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drive_ramp(0, 0); // Stop & let program end
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}

‎Learn/Examples/Robots/ActivityBot/Detect and Turn from Obstacle.side

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Detect and Turn from Obstacle.c
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>compiler=C
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>memtype=cmm main ram compact
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>optimize=-Os
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>-m32bit-doubles
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>-fno-exceptions
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>defs::-std=c99
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>-lm
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>BOARD::ACTIVITYBOARD

‎Learn/Examples/Robots/ActivityBot/Follow with Ping.c

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/*
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Follow with Ping.c
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Maintain a constant distance between ActivityBot and object.
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http://learn.parallax.com/activitybot/follow-objects-ultrasound
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*/
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#include "simpletools.h" // Include simpletools header
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#include "abdrive.h" // Include abdrive header
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#include "ping.h" // Include ping header
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int distance, setPoint, errorVal, kp, speed; // Navigation variables
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int main() // main function
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{
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setPoint = 32; // Desired cm distance
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kp = -10; // Proportional control
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drive_setRampStep(6); // 7 ticks/sec / 20 ms
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while(1) // main loop
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{
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distance = ping_cm(8); // Measure distance
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errorVal = setPoint - distance; // Calculate error
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speed = kp * errorVal; // Calculate correction speed
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if(speed > 128) speed = 128; // Limit top speed
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if(speed < -128) speed = -128;
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drive_rampStep(speed, speed); // Use result for following
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}
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}
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‎Learn/Examples/Robots/ActivityBot/Follow with Ping.side

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Follow with Ping.c
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>compiler=C
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>memtype=cmm main ram compact
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>optimize=-Os
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>-m32bit-doubles
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>-fno-exceptions
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>defs::-std=c99
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>-lm
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>BOARD::ACTIVITYBOARD

‎Learn/Examples/Robots/ActivityBot/Forward Stop Face Right.c

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/*
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Forward Stop Face Right.c
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http://learn.parallax.com/activitybot/go-certain-distances
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*/
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#include "simpletools.h"
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#include "abdrive.h"
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int main()
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{
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drive_goto(256, 256);
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pause(200);
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drive_goto(26, -25);
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}

‎Learn/Examples/Arlo/Forward Stop Face Right.side renamed to ‎Learn/Examples/Robots/ActivityBot/Forward Stop Face Right.side

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‎Learn/Examples/Robots/ActivityBot/IR Roaming.c

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/*
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IR Roaming.c
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Use IR LED and IR receiver pairs as object detectors for robot roaming.
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http://learn.parallax.com/activitybot/roaming-infrared-flashlights
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*/
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#include "simpletools.h" // Library includes
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#include "abdrive.h"
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int irLeft, irRight; // IR variables
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int main() // Main function
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{
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low(26); // D/A0 & D/A1 to 0 V
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low(27);
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drive_setRampStep(12); // Max step 12 ticks/s every 20 ms
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while(1)
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{
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freqout(11, 1, 38000); // Check left & right objects
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irLeft = input(10);
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freqout(1, 1, 38000);
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irRight = input(2);
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if(irRight == 1 && irLeft == 1) // No obstacles?
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drive_rampStep(128, 128); // ...full speed ahead
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else if(irLeft == 0 && irRight == 0) // Left & right obstacles?
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drive_rampStep(-128, -128); // ...full speed reverse
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else if(irRight == 0) // Just right obstacle?
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drive_rampStep(-128, 128); // ...rotate left
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else if(irLeft == 0) // Just left obstacle?
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drive_rampStep(128, -128); // ...rotate right
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}
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}

‎Learn/Examples/Robots/ActivityBot/IR Roaming.side

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IR Roaming.c
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>compiler=C
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>memtype=cmm main ram compact
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>optimize=-Os
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>-m32bit-doubles
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>-fno-exceptions
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>defs::-std=c99
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>-lm
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>BOARD::ACTIVITYBOARD

‎Learn/Examples/Robots/ActivityBot/NAVSET.TXT

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forward = 192
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left = 64
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right = 128
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left = 64
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backward = 192
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end

‎Learn/Examples/Robots/ActivityBot/Navigate by Light.c

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/*
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Navigate by Light.c
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http://learn.parallax.com/activitybot/roaming-light-sensors
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*/
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#include "simpletools.h"
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#include "abdrive.h"
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int lightLeft, lightRight, ndiff;
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int speedLeft, speedRight;
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int main()
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{
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while(1)
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{
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high(9);
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pause(1);
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lightLeft = rc_time(9, 1);
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high(5);
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pause(1);
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lightRight = rc_time(5, 1);
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ndiff = 200 * lightRight / (lightRight + lightLeft) - 100;
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speedLeft = 100;
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speedRight = 100;
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if(ndiff >= 0) speedLeft -= (ndiff * 4);
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else speedRight += (ndiff * 4);
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drive_speed(speedLeft, speedRight);
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}
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}

‎Learn/Examples/Robots/ActivityBot/Navigate by Light.side

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Navigate by Light.c
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>compiler=C
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>memtype=cmm main ram compact
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>optimize=-Os
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>-m32bit-doubles
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>-fno-exceptions
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>defs::-std=c99
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>-lm
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>BOARD::ACTIVITYBOARD

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