Różnice między wybraną wersją a wersją aktualną.
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pl:miw:miw08_mindstormsdesign:strona_1 [2008/06/03 01:34] miw |
pl:miw:miw08_mindstormsdesign:strona_1 [2019/06/27 15:50] |
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| - | ====== Algorytmy (echosonda) ====== | ||
| - | Poniżej znajdują się algorytmy sterowania wykorzystujące **echosondę**. Aby sprawdzić działanie algorytmów należy przygotować tor przeszkód. | ||
| - | |||
| - | ===== Objechanie przeszkody ===== | ||
| - | ==== Zapis słowny ==== | ||
| - | - jedź do przodu | ||
| - | - jeżeli przeszkoda zatrzymaj się (wskaźnik echosondy poniżej progu) idź do (3) inaczej wróć do (1) | ||
| - | - obróć się o 90<sup>0</sup> w prawo | ||
| - | - jeżeli przeszkoda zatrzymaj się (wskaźnik echosondy poniżej progu) idź do (3) inaczej idź do (5) | ||
| - | - zrób krok do przodu | ||
| - | - jeżeli przeszkoda idź do (3) inaczej idź wykonaj kolejny punkt | ||
| - | - obróć się o 90<sup>0</sup> w lewo i idź do (1) | ||
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| - | |||
| - | |||
| - | ==== Zapis regułowy ==== | ||
| - | |||
| - | atrybuty: | ||
| - | * ultras_v | ||
| - | * robot_state | ||
| - | * prev_action | ||
| - | * robot_action | ||
| - | akcje | ||
| - | * zmiana wart atrybutu? | ||
| - | |||
| - | pomieszanie | ||
| - | * deklaratywne/proceduralne | ||
| - | * reguły/uruchamianie | ||
| - | |||
| - | model przetwarzania: | ||
| - | * pojedyncze przejscie, | ||
| - | * monitorowanie? | ||
| - | * nawroty? | ||
| - | |||
| - | <code ada> | ||
| - | Rule: 1 | ||
| - | if ultrasonic_Value > 50 and go ≠ 0 | ||
| - | then go := 100 and go_cm := 0 and turn := 0 | ||
| - | |||
| - | Rule: 2 | ||
| - | if ultrasonic_Value > 50 and go = 0 and turn = 0 | ||
| - | then go := 100 and go_cm := 0 and turn := 0 | ||
| - | |||
| - | Rule: 3 | ||
| - | if ultrasonic_Value > 50 and go = 0 and turn < 0 | ||
| - | then go := 100 and go_cm := 0 and turn := 0 | ||
| - | |||
| - | Rule: 4 | ||
| - | if ultrasonic_Value > 50 and go = 0 and turn > 0 | ||
| - | then go_cm := 10 and go := 0 and turn := 0 | ||
| - | |||
| - | Rule: 5 | ||
| - | if ultrasonic_Value ≤ 50 and go ≠ 0 | ||
| - | then turn := 90 and go := 0 and go_cm := 0 | ||
| - | |||
| - | Rule: 6 | ||
| - | if ultrasonic_Value ≤ 50 and go = 0 and turn ≠ 0 | ||
| - | then turn := 0 and go := 0 and go_cm := 10 | ||
| - | |||
| - | Rule: 7 | ||
| - | if ultrasonic_Value ≤ 50 and go = 0 and turn = 0 and go_cm = 0 | ||
| - | then turn := 90 and go := 0 and go_cm := 0 | ||
| - | |||
| - | Rule: 8 | ||
| - | if ultrasonic_Value ≤ 50 and go = 0 and turn = 0 and go_cm ≠ 0 | ||
| - | then turn := -90 and go := 0 and go_cm := 0 | ||
| - | </code> | ||
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| - | |||
| - | |||
| - | ==== Implementacja w Prologu ==== | ||
| - | <code prolog> | ||
| - | |||
| - | state(go). // Knowladge Base => previous state updated in fly.. initial state would also be state(go) | ||
| - | |||
| - | start :- | ||
| - | nxt_ultrasonic_sensor(port,Value) | ||
| - | Value > 50, | ||
| - | start_go. | ||
| - | |||
| - | start :- | ||
| - | nxt_ultrasonic_sensor(port,Value) | ||
| - | Value =< 50, | ||
| - | start_turn. | ||
| - | |||
| - | start :- | ||
| - | nxt_go(0). | ||
| - | |||
| - | start_go :- | ||
| - | state(go), | ||
| - | nxt_go(0). | ||
| - | |||
| - | start_go :- | ||
| - | state(go_cm), | ||
| - | nxt_go_cm(distance,speed). | ||
| - | |||
| - | start_turn :- | ||
| - | state(go), | ||
| - | nxt_turn_degrees(speed,90). | ||
| - | |||
| - | start_turn :- | ||
| - | state(go_cm), | ||
| - | nxt_turn_degrees(speed,-90). | ||
| - | </code> | ||
| - | |||
| - | |||
| - | |||
| - | ==== XTT ==== | ||
| - | {{:pl:miw:miw08_mindstormsdesign:alg3.png|XTT}} | ||
