Author Topic: About “OMNI-WHEEL ROBOT - FUZZY” control  (Read 522 times)

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Offline primekingTopic starter

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About “OMNI-WHEEL ROBOT - FUZZY” control
« 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

Offline newInRobotics

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Re: About “OMNI-WHEEL ROBOT - FUZZY” control
« Reply #1 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.
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Offline primekingTopic starter

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Re: About “OMNI-WHEEL ROBOT - FUZZY” control
« Reply #2 on: June 19, 2013, 05:56:04 PM »
Thank you your reply!

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

 


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