Society of Robots - Robot Forum

Software => Software => Topic started by: primeking on June 18, 2013, 09:37:22 PM

Title: About “OMNI-WHEEL ROBOT - FUZZY” control
Post by: primeking on June 18, 2013, 09:37:22 PM
void main()

{

   long int t=0;

   //initialization

   cereb_init();

   scan(-totalangle/3+scanmod);

   while(!button(A));



   while(1)//code below here only

      {

      sensor_read();//sense

      interpretworld();//plan

      //orient(rotate_speed,trans_angle,0);//speed modified in transpathplan



      //printf("rot:%ld tangle:%ld magnitude:%d\r\n", rotate_speed, trans_angle, trans_speed);

      IRprintmap();



      delay_ms(200);



      //circle test

      /*printf("%ld\r\n",t);

      orient(0,t,0);//rotate_speed, trans_angle, trans_speed

      delay_ms(11);

      t++;

      if (t==360)

         t=0;*/

      }

    while(1);

}

This main function is copy from "PIC 16F877 source code for omni-wheel robots" .
I can't find it called about whitch function control servos!
Can you help me understand this source code? Thanks! 

Source code url: http://www.societyofrobots.com/downloads/fuzzy_C_source_code.zip (http://www.societyofrobots.com/downloads/fuzzy_C_source_code.zip)
Title: Re: About “OMNI-WHEEL ROBOT - FUZZY” control
Post by: newInRobotics on June 19, 2013, 01:02:50 AM
I can't find it called about whitch function control servos!
I assume it's the "orient(0,t,0);//rotate_speed, trans_angle, trans_speed" function.
Title: Re: About “OMNI-WHEEL ROBOT - FUZZY” control
Post by: primeking on June 19, 2013, 05:56:04 PM
Thank you your reply!

the function orient will not be execute ,because it was contain in "/* */.