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| Both sides previous revision Poprzednia wersja Nowa wersja | Poprzednia wersja | ||
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pl:miw:miw08_mindstormsdesign:strona_1 [2008/04/07 22:00] miw |
pl:miw:miw08_mindstormsdesign:strona_1 [2019/06/27 15:50] (aktualna) |
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| ====== Algorytmy (echosonda) ====== | ====== Algorytmy (echosonda) ====== | ||
| Poniżej znajdują się algorytmy sterowania wykorzystujące **echosondę**. Aby sprawdzić działanie algorytmów należy przygotować tor przeszkód. | Poniżej znajdują się algorytmy sterowania wykorzystujące **echosondę**. Aby sprawdzić działanie algorytmów należy przygotować tor przeszkód. | ||
| - | ===== Unikanie przeszkód ===== | ||
| - | |||
| - | ==== 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 | ||
| - | - idź do (1) | ||
| - | |||
| - | ==== Zapis regułowy ==== | ||
| - | <code ada> | ||
| - | Rule: 1 | ||
| - | if ultrasonic_sensor_Value > number | ||
| - | then robot_action is go_foward | ||
| - | |||
| - | Rule: 2 | ||
| - | if ultrasonic_sensor_Value ≤ number | ||
| - | then robot_action is turn_right_90_degrees | ||
| - | |||
| - | Rule: 3 | ||
| - | stop | ||
| - | </code> | ||
| - | |||
| - | ==== Implementacja w Prologu ==== | ||
| - | <code prolog> | ||
| - | start :- | ||
| - | ultrasonic_sensor(Value), | ||
| - | Value > number, | ||
| - | go(0,speed,force). | ||
| - | start :- | ||
| - | ultrasonic_sensor(Value), | ||
| - | Value =< number, | ||
| - | turn(90,speed). | ||
| - | start :- | ||
| - | go(0,0,0). | ||
| - | </code> | ||
| - | |||
| - | |||
| - | ==== XTT ==== | ||
| - | {{:pl:miw:miw08_mindstormsdesign:alg11.png|XTT}} | ||
| - | |||
| ===== Objechanie przeszkody ===== | ===== Objechanie przeszkody ===== | ||
| Linia 51: | Linia 11: | ||
| - jeżeli przeszkoda idź do (3) inaczej idź wykonaj kolejny punkt | - jeżeli przeszkoda idź do (3) inaczej idź wykonaj kolejny punkt | ||
| - obróć się o 90<sup>0</sup> w lewo i idź do (1) | - obróć się o 90<sup>0</sup> w lewo i idź do (1) | ||
| + | |||
| + | |||
| + | |||
| ==== Zapis regułowy ==== | ==== Zapis regułowy ==== | ||
| + | |||
| <code ada> | <code ada> | ||
| Rule: 1 | Rule: 1 | ||
| - | if ultrasonic_sensor_Value > number | + | if ultrasonic_Value > 50 and go ≠ 0 |
| - | then robot_state is go | + | then go := 100 and go_cm := 0 and turn := 0 |
| Rule: 2 | Rule: 2 | ||
| - | if ultrasonic_sensor_Value ≤ number | + | if ultrasonic_Value > 50 and go = 0 and turn = 0 |
| - | then robot_state is turn | + | then go := 100 and go_cm := 0 and turn := 0 |
| Rule: 3 | Rule: 3 | ||
| - | if robot_state is go | + | if ultrasonic_Value > 50 and go = 0 and turn < 0 |
| - | and previous_action is turn_right | + | then go := 100 and go_cm := 0 and turn := 0 |
| - | then robot_action is go_one_step_foward | + | |
| Rule: 4 | Rule: 4 | ||
| - | if robot_state is go | + | if ultrasonic_Value > 50 and go = 0 and turn > 0 |
| - | and previous_action is go_foward | + | then go_cm := 10 and go := 0 and turn := 0 |
| - | then robot_action is go_foward | + | |
| Rule: 5 | Rule: 5 | ||
| - | if robot_state is go | + | if ultrasonic_Value ≤ 50 and go ≠ 0 |
| - | and previous_action is turn_left | + | then turn := 90 and go := 0 and go_cm := 0 |
| - | then robot_action is go_foward | + | |
| Rule: 6 | Rule: 6 | ||
| - | if robot_state is turn | + | if ultrasonic_Value ≤ 50 and go = 0 and turn ≠ 0 |
| - | and previous_action is go_foward | + | then turn := 0 and go := 0 and go_cm := 10 |
| - | then robot_action is turn_right_90_degrees | + | |
| Rule: 7 | Rule: 7 | ||
| - | if robot_state is turn | + | if ultrasonic_Value ≤ 50 and go = 0 and turn = 0 and go_cm = 0 |
| - | and previous_action is go_one_step_foward | + | then turn := 90 and go := 0 and go_cm := 0 |
| - | then robot_action is turn_left_90_degrees | + | |
| + | 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> | </code> | ||
| + | |||
| + | |||
| + | |||
| + | |||
| ==== Implementacja w Prologu ==== | ==== Implementacja w Prologu ==== | ||
| <code prolog> | <code prolog> | ||
| + | |||
| + | state(go). // Knowladge Base => previous state updated in fly.. initial state would also be state(go) | ||
| + | |||
| start :- | start :- | ||
| - | ultrasonic_sensor(Value), | + | nxt_ultrasonic_sensor(port,Value) |
| - | Value > number, | + | Value > 50, |
| - | go(0,speed,force). | + | start_go. |
| start :- | start :- | ||
| - | ultrasonic_sensor(Value), | + | nxt_ultrasonic_sensor(port,Value) |
| - | Value =< number, | + | Value =< 50, |
| - | turn(90,speed). | + | start_turn. |
| start :- | start :- | ||
| - | go(0,0,0). | + | nxt_go(0). |
| - | </code> | + | |
| - | ==== XTT ==== | + | |
| - | ===== Pokonywanie przeszkód ===== | + | |
| - | ==== Zapis słowny ==== | + | |
| - | - jedź do przodu | + | |
| - | - jeżeli przeszkoda zatrzymaj się (wskaźnik echosondy poniżej progu) idź do ( c) inaczej wróć do (a) | + | |
| - | - obróć się o 45<sup>0</sup> w prawo i zapisz odczyt czujnika | + | |
| - | - obróć się o 135<sup>0</sup> w lewo i zapisz odczyt czujnika | + | |
| - | - jeżeli odczyt_1 większy od odczyt_2 obróć się o 135<sup>0</sup> w prawo | + | |
| - | - idź do (a) | + | |
| - | ==== Zapis regułowy ==== | + | |
| - | <code ada> | + | |
| - | Rule: 1 | + | |
| - | if ultrasonic_sensor_Value > number | + | |
| - | then robot_action is go_foward | + | |
| - | Rule: 2 | + | start_go :- |
| - | if ultrasonic_sensor_Value ≤ number | + | state(go), |
| - | then robot_action is turn_right | + | nxt_go(0). |
| + | |||
| + | start_go :- | ||
| + | state(go_cm), | ||
| + | nxt_go_cm(distance,speed). | ||
| - | Rule: 3 // co z ta reguła ??? | + | start_turn :- |
| - | if error | + | state(go), |
| - | then stop | + | nxt_turn_degrees(speed,90). |
| + | |||
| + | start_turn :- | ||
| + | state(go_cm), | ||
| + | nxt_turn_degrees(speed,-90). | ||
| </code> | </code> | ||
| - | ==== Implementacja w Prologu ==== | + | |
| - | <code prolog> | + | |
| - | start :- | + | |
| - | ultrasonic_sensor(Value), | + | |
| - | Value > number, | + | |
| - | go(0,speed,force). | + | |
| - | start :- | + | |
| - | ultrasonic_sensor(Value), | + | |
| - | Value =< number, | + | |
| - | turn(90,speed). | + | |
| - | start :- | + | |
| - | go(0,0,0). | + | |
| - | </code> | + | |
| ==== XTT ==== | ==== XTT ==== | ||
| + | {{:pl:miw:miw08_mindstormsdesign:alg3.png|XTT}} | ||
| - | ===== I tak kolejne.... ===== | ||
| - | ==== Zapis słowny ==== | ||
| - | ==== Implementacja w Prologu ==== | ||
| - | ==== XTT ==== | ||
| - | ====== Uwagi ====== | ||
| - | ====== Materiały ====== | ||
