Różnice między wybraną wersją a wersją aktualną.
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pl:miw:miw08_mindstormscontrolj:nxt_icommand.pl [2008/04/14 10:25] miw utworzono |
pl:miw:miw08_mindstormscontrolj:nxt_icommand.pl [2008/05/20 12:25] gjn |
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| - | %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% | ||
| - | % % | ||
| - | % Author: Pawel Gutowski pawel.gutowski@gmail.com % | ||
| - | % University of Science and Technology AGH in Cracow % | ||
| - | % 2008 % | ||
| - | % % | ||
| - | % % | ||
| - | % PortName = 'S1' or % | ||
| - | % 'S2' or % | ||
| - | % 'S3' or % | ||
| - | % 'S4' % | ||
| - | % % | ||
| - | % MotorName = 'A' or % | ||
| - | % 'B' or % | ||
| - | % 'C' % | ||
| - | %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% | ||
| - | :- module(nxt_iCmd,[ | ||
| - | nxt_iCmd_open/0, | ||
| - | nxt_iCmd_close/0, | ||
| - | nxt_iCmd_distance/2, | ||
| - | nxt_iCmd_pressed/2, | ||
| - | nxt_iCmd_lightPercentage/2, | ||
| - | nxt_iCmd_LED/2, | ||
| - | nxt_iCmd_loudness/2, | ||
| - | nxt_iCmd_batteryMilliVolt/1, | ||
| - | nxt_iCmd_playSoundFile/2, | ||
| - | nxt_iCmd_stopPlayingSound/0, | ||
| - | nxt_iCmd_playTone/2, | ||
| - | % motors | ||
| - | nxt_iCmd_stopMotor/1, | ||
| - | nxt_iCmd_setMotorSpeed/2, | ||
| - | nxt_iCmd_getMotorSpeed/2, | ||
| - | nxt_iCmd_rotateMotorToAngle/3, | ||
| - | nxt_iCmd_getMotorAngle/2, | ||
| - | nxt_iCmd_resetMotorAngle/1 | ||
| - | ]). | ||
| - | |||
| - | nxt_iCmd_open:- | ||
| - | writeln('Opening connection...'), | ||
| - | jpl_call( 'icommand.nxt.comm.NXTCommand' , 'open', [], _), | ||
| - | writeln('Configuring connection...'), | ||
| - | jpl_call( 'icommand.nxt.comm.NXTCommand' , 'setVerify', [@(true)], _), | ||
| - | writeln('Connection established!'). | ||
| - | |||
| - | nxt_iCmd_close:- | ||
| - | writeln('Closing connection...'), | ||
| - | jpl_call( 'icommand.nxt.comm.NXTCommand' , 'close', [], _), | ||
| - | writeln('Connection is closed.'). | ||
| - | |||
| - | |||
| - | nxt_iCmd_distance(PortName, Dist):- | ||
| - | writeln('Getting port handle...'), | ||
| - | jpl_get('icommand.nxt.SensorPort', PortName, PortHandle), | ||
| - | writeln('Creating ultrasonic sensor object...'), | ||
| - | jpl_new('icommand.nxt.UltrasonicSensor', [PortHandle], UltraSonic), | ||
| - | writeln('Reading distance from ultrasonic sensor...'), | ||
| - | jpl_call( UltraSonic, 'getDistance', [], Dist), | ||
| - | writeln('Reading finished.'). | ||
| - | |||
| - | nxt_iCmd_pressed(PortName, Pressed):- | ||
| - | writeln('Getting port handle...'), | ||
| - | jpl_get('icommand.nxt.SensorPort', PortName, PortHandle), | ||
| - | writeln('Creating touch sensor object...'), | ||
| - | jpl_new('icommand.nxt.TouchSensor', [PortHandle], TouchSensor), | ||
| - | writeln('Reading touch sensor state...'), | ||
| - | jpl_call( TouchSensor, 'isPressed', [], Pressed), | ||
| - | writeln('Reading finished.'). | ||
| - | |||
| - | nxt_iCmd_lightPercentage(PortName, LightPercentage):- | ||
| - | writeln('Getting port handle...'), | ||
| - | jpl_get('icommand.nxt.SensorPort', PortName, PortHandle), | ||
| - | writeln('Creating light sensor object...'), | ||
| - | jpl_new('icommand.nxt.LightSensor', [PortHandle], LightSensor), | ||
| - | writeln('Reading light percentage...'), | ||
| - | jpl_call( LightSensor, 'getLightPercent', [], LightPercentage), | ||
| - | writeln('Reading finished.'). | ||
| - | |||
| - | nxt_iCmd_LED(PortName, IsON):- | ||
| - | writeln('Getting port handle...'), | ||
| - | jpl_get('icommand.nxt.SensorPort', PortName, PortHandle), | ||
| - | writeln('Creating light sensor object...'), | ||
| - | jpl_new('icommand.nxt.LightSensor', [PortHandle], LightSensor), | ||
| - | writeln('Setting LED state...'), | ||
| - | nxt_iCmdHelper_setLEDState(LightSensor, IsON), | ||
| - | writeln('Setting finished.'). | ||
| - | |||
| - | nxt_iCmd_loudness(PortName, Loudness):- | ||
| - | writeln('Getting port handle...'), | ||
| - | jpl_get('icommand.nxt.SensorPort', PortName, PortHandle), | ||
| - | writeln('Creating Sound sensor object...'), | ||
| - | jpl_new('icommand.nxt.SoundSensor', [PortHandle], SoundSensor), | ||
| - | writeln('Reading loudness...'), | ||
| - | jpl_call( SoundSensor, 'getdBA', [], Loudness), | ||
| - | writeln('Reading finished.'). | ||
| - | |||
| - | % | ||
| - | % Funkcje "dodatkowe" | ||
| - | % | ||
| - | % | ||
| - | nxt_iCmd_batteryMilliVolt(MilliVolt):- | ||
| - | writeln('Checking battery millivoltage...'), | ||
| - | jpl_call( 'icommand.nxt.Battery' , 'getVoltageMilliVolt', [], MilliVolt). | ||
| - | |||
| - | |||
| - | % | ||
| - | % Np: iCmd_playSoundFile('Good Job.rso', @(true)). | ||
| - | % | ||
| - | |||
| - | nxt_iCmd_playSoundFile(SoundName, Repeat):- | ||
| - | writeln('Starting sound playing...'), | ||
| - | jpl_call( 'icommand.nxt.Sound' , 'playSoundFile', [SoundName, Repeat], _). | ||
| - | |||
| - | nxt_iCmd_stopPlayingSound:- | ||
| - | writeln('Stopping sound playing...'), | ||
| - | jpl_call( 'icommand.nxt.Sound' , 'stopSoundPlayback', [], _). | ||
| - | |||
| - | % | ||
| - | % Frequency [Hz] | ||
| - | % Duration [ms] | ||
| - | % | ||
| - | |||
| - | nxt_iCmd_playTone(Frequency, Duration):- | ||
| - | writeln('Starting tone playing...'), | ||
| - | jpl_call( 'icommand.nxt.Sound' , 'playTone', [Frequency, Duration], _). | ||
| - | |||
| - | |||
| - | |||
| - | % | ||
| - | % Funkcja "stop()" działa - z kodu źródłowego iCommand wynika, że jest to nic innego | ||
| - | % jak ustawienie prędkości (mocy?) silnika na 0. | ||
| - | % Czy nie istenieje ryzyko spalenia silnika? | ||
| - | % | ||
| - | |||
| - | nxt_iCmd_stopMotor(MotorName):- | ||
| - | jpl_get('icommand.nxt.Motor', MotorName, MotorHandle), | ||
| - | jpl_call(MotorHandle, 'stop', [], _). | ||
| - | |||
| - | % | ||
| - | % Speed [degrees/sec]. | ||
| - | % Kierunek obrotu okresla znak +/- predkosci. | ||
| - | % | ||
| - | |||
| - | nxt_iCmd_setMotorSpeed(MotorName, Speed):- | ||
| - | writeln('Setting motor speed...'), | ||
| - | Speed >= 0, | ||
| - | writeln('Setting forward motor speed...'), | ||
| - | jpl_get('icommand.nxt.Motor', MotorName, MotorHandle), | ||
| - | jpl_call( MotorHandle, 'setSpeed', [Speed], _), | ||
| - | jpl_call( MotorHandle, 'forward', [], _), | ||
| - | writeln('Motor is now moving.'). | ||
| - | |||
| - | nxt_iCmd_setMotorSpeed(MotorName, Speed):- | ||
| - | writeln('Setting motor speed...'), | ||
| - | Speed < 0, | ||
| - | writeln('Setting backward motor speed...'), | ||
| - | jpl_get('icommand.nxt.Motor', MotorName, MotorHandle), | ||
| - | writeln('Counting module of Speed...'), | ||
| - | NewSpeed is -Speed, | ||
| - | write('Module of speed is: '), | ||
| - | writeln(NewSpeed), | ||
| - | writeln('Setting motor speed...'), | ||
| - | jpl_call( MotorHandle, 'setSpeed', [NewSpeed], _), | ||
| - | writeln('Starting the backward movement of motor...'), | ||
| - | jpl_call( MotorHandle, 'backward', [], _), | ||
| - | writeln('Motor is now moving.'). | ||
| - | |||
| - | % | ||
| - | % UWAGA: | ||
| - | % Przy odczycie nie bedzie znany kierunek, lecz tylko predkosc silnika! | ||
| - | % iCommand nie daje możlwiości odczytania kierunku obrotu | ||
| - | % | ||
| - | |||
| - | nxt_iCmd_getMotorSpeed(MotorName, Speed):- | ||
| - | writeln('Reading actual motor speed...'), | ||
| - | jpl_get('icommand.nxt.Motor', MotorName, MotorHandle), | ||
| - | jpl_call(MotorHandle, 'isMoving', [], IsMoving), | ||
| - | IsMoving == @(true), | ||
| - | jpl_call(MotorHandle, 'getSpeed', [], Speed). | ||
| - | |||
| - | nxt_iCmd_getMotorSpeed(MotorName, Speed):- | ||
| - | jpl_get('icommand.nxt.Motor', MotorName, MotorHandle), | ||
| - | jpl_call(MotorHandle, 'isMoving', [], IsMoving), | ||
| - | IsMoving == @(false), | ||
| - | Speed = 0. | ||
| - | |||
| - | nxt_iCmd_rotateMotorToAngle(MotorName, Angle, Speed):- | ||
| - | writeln('Rotating motor to...'), | ||
| - | jpl_get('icommand.nxt.Motor', MotorName, MotorHandle), | ||
| - | jpl_call( MotorHandle, 'setSpeed', [Speed], _), | ||
| - | jpl_call( MotorHandle, 'rotateTo', [Angle, @(true)], _), | ||
| - | writeln('Motor is now moving.'). | ||
| - | |||
| - | nxt_iCmd_getMotorAngle(MotorName, Angle):- | ||
| - | writeln('Reading actual tacho count...'), | ||
| - | jpl_get('icommand.nxt.Motor', MotorName, MotorHandle), | ||
| - | jpl_call(MotorHandle, 'getTachoCount', [], Angle). | ||
| - | |||
| - | nxt_iCmd_resetMotorAngle(MotorName):- | ||
| - | writeln('Resetting tacho count...'), | ||
| - | jpl_get('icommand.nxt.Motor', MotorName, MotorHandle), | ||
| - | jpl_call(MotorHandle, 'resetTachoCount', [], _). | ||
| - | |||
| - | |||
| - | % | ||
| - | % HELPERS | ||
| - | % | ||
| - | |||
| - | nxt_iCmdHelper_setLEDState(LightSensor, IsON):- | ||
| - | writeln('Checking if LED should be turned ON...'), | ||
| - | IsON == @(true), | ||
| - | writeln('Yes, LED should be turned ON - turning ON...'), | ||
| - | jpl_call( LightSensor, 'activate', [], _), | ||
| - | writeln('LED has been turned ON.'). | ||
| - | |||
| - | nxt_iCmdHelper_setLEDState(LightSensor, IsON):- | ||
| - | writeln('Checking if LED should be turned ON...'), | ||
| - | IsON == @(false), | ||
| - | writeln('No, LED should be turned OFF - turning OFF...'), | ||
| - | jpl_call( LightSensor, 'passivate', [], _), | ||
| - | writeln('LED has been turned OFF.'). | ||
