Różnice między wybraną wersją a wersją aktualną.
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pl:miw:miw08_mindstormsdesign:strona_1 [2017/07/17 10:08] |
pl:miw:miw08_mindstormsdesign:strona_1 [2019/06/27 15:50] (aktualna) |
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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) | ||
| + | |||
| + | |||
| + | |||
| + | |||
| + | |||
| + | ==== Zapis regułowy ==== | ||
| + | |||
| + | <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> | ||
| + | |||
| + | |||
| + | |||
| + | |||
| + | |||
| + | ==== 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}} | ||
