### Author Topic: About “OMNI-WHEEL ROBOT - FUZZY” control  (Read 617 times)

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#### primeking

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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

#### newInRobotics

• Supreme Robot
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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.
"Computer games don't affect kids; I mean if Pac-Man affected us as kids, we'd all be running around in darkened rooms, munching magic pills and listening to repetitive electronic music." - Kristian W

#### primeking

• Beginner
• Posts: 2
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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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