Difference between revisions of "EA2012 Langages et Canevas pour la robotique de service"
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=== Contrôler === |
=== Contrôler === |
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+ | |||
+ | var Global.currentState = 0; |
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+ | |||
+ | at (bumper.val == 1) |
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+ | { |
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+ | if(Global.currentState == 0) |
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+ | { |
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+ | echo("On"); |
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+ | Global.currentState = 1; |
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+ | explorer.unfreeze; |
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+ | detecter.unfreeze; |
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+ | } |
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+ | else |
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+ | { |
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+ | echo("Off"); |
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+ | explorer.freeze; |
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+ | detecter.freeze; |
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+ | stop(); |
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+ | Global.currentState = 0; |
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+ | }| |
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+ | }, |
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== Conclusion == |
== Conclusion == |
Revision as of 14:14, 15 October 2012
- Enseignants: Georges-Pierre Bonneau, Didier Donsez
- UE/Module: EAR (HPRJ9R4B) en RICM5
- Etudiants: Elizabeth Paz, Salem Harrache
La version PDF de la présentation (FR) est disponible ici : Media:Presentation_EA_ROS_URBI_PAZ_&_HARRACHE.pdf
Résumé
Abstract
Synthèse
Introduction
ROS
Urbi
Démonstration Urbi et NXT Mindstorm
Pour la démonstration on utilise le Lego NXT de Mindstorm.
Avancer et reculer
Global.wheels.speed = 50; sleep (3s); Global.wheels.speed = −50; sleep (2s); Global.wheels.speed = 0;
Tourner
Global.wheelL.speed = - 50 time:1s & Global.wheelR.speed = 50 time:1s; Global.wheelL.speed = 0 time:2s & Global.wheelR.speed = 0 time:2s;
Explorer
var Global.explorer = Tag.new; explorer: { every(500ms) wheels.speed = 25; },
Arrêter le robot :
explorer.freeze() stop();
Reprendre l'exploration :
explorer.unfreeze()
Détecter les obstacles
var Global.DistanceDanger = 25; var Global.detecter = Tag.new; detecter: { at (sonar.val < Global.DistanceDanger) { explorer.freeze; wheels.speed = - 50 time:1500ms; // Tourner {Global.wheelL.speed = - 50 & Global.wheelR.speed = 50} & sleep(600ms); stop(); explorer.unfreeze; }, },
Contrôler
var Global.currentState = 0; at (bumper.val == 1) { if(Global.currentState == 0) { echo("On"); Global.currentState = 1; explorer.unfreeze; detecter.unfreeze; } else { echo("Off"); explorer.freeze; detecter.freeze; stop(); Global.currentState = 0; }| },
Conclusion
Liens
- ROS Website : http://www.ros.org/
- Gostai website : http://www.gostai.com/
- Wikipedia : http://fr.wikipedia.org/wiki/Urbi
- 2-high : http://www.2-high.info/post/2010/10/08/Installer-URBI-pour-Lego-Mindstorm-NXT