Programming Concepts
Part C
GOTO_Beacon
ENGR 10
Introduction to Engineering
1
Download the GOTO BEACON
program from the E10 website,
Robot lab section,
New controller
(Cortex)
2
Main() for GOTO_Beacon Program
Note: you need to change freq
for the beacon you want to find!
Global
Variables
Infinite loop
Call three functions
3
4
The main body of the GOTO_Beacon program
is an infinite loop with three functions in the loop
While Loop (1==1)
{
Read_PD(); //read 8 Photo-detector outputs
find_max(); //find the max detector output
move(); // move to the direction of max PD
}
PD4
PD7 PD0
Left side Right side
5
Read_PD()
This function reads the intensity of all 8 Infrared
Photo-Detectors and stores the
intensity (0 to 1023) into PD0~PD7
variables. It also produces the sum of
all 8 readings (PD_sum). The sensing
sensitivity is set by expose_time.
This function reads the intensity of either 1kHz or
10kHz infrared signal depending on
the setting of digital output port 10 on
Cortex, (0=1kHz , 1=10kHz). You
should set the digital output port #10 to
the intended frequency before this
function is called.
find_max()
This function determines which variable (among
PD0~PD7) has the greatest value. The PD
number is saved in the variable max_no.
6
move()
1. If PD_sum < Ambient (noise level, 200), the
robot spins at the speed spin_speed (50). If
PD_sum > Ambient (beacon is in view), go
forward at speed of forward_speed (35).
2. Turns the left wheel faster if max_no (PD #)
<4
3. Turns the right wheel faster if max_no > 4,
same speed if max_no = 4
4. Slows the forward motion to slow_speed if
PD_sum > slow_level (5000)
5. Stop if PD_sum > stop_level (6000)
Red beacon
PD4 PD0
PD7
7
Read_PD() Function
8
Find maximum intensity
9
find_max() Function
10
Move the robot
11
Move() Program
PD_sum<200, no
beacon in sight,
robot spins
PD_sum >5000,
robot slows down,
beacon is close
PD_sum >6000,
very close to
beacon, robot stops
Robot moves
toward beacon
12
limit_pwm() Program
13
Cortex Controller
PD2 reads max intensity max_no = 2
error = 4-2=2
steer=error*steer_sensitivity=2*20=40
Motor1 speed = 0+40+35=75,
Motor10 speed=0+40-35=5,
if motor 1 is on the left side the robot turns
right
14
How to add to the GOTO_beacon
program to perform the required task?
Use state variable !
Somewhere here, when red
Initialization beacon is found, state=2.
No infinite loop in all blocks!
Read PD();
While Find red
Find Max();
state==1 beacon
Move ();
While Try to turn off red
state==2 beacon. when
confirmed, state=3
While Go to green
state==3 When found, state
=4
Find green
15
beacon
While Capture green (turn
off) ,
state==4 When confirmed.
state =5
While GO home,
state==7 When confirmed.
state =6
STOP
16
E10 robot, bumper switch
es, it wonders
Hsu/Youssefi 17
IR Receiver Board
Infrared
selector detectors
VEX
Controller 0
1
Intensity output
Exposure Tuning 2
AD1 amplifier 3
Control circuit 4
Frequency select sensitivity 5
AD14 6
7
counter
Exposure control 8
AD15 count 4
Reset to detector #0 2
AD16 reset 1
Circuit board
Board edge
Longer lead
Side view Top View
18
Beacon Frequency Selection
(filter)
Tuning circuit
amplifier
1kHz
To next
stage
From
previous
stage
AD14
Freq select (0=1kHz, 1=10kHz)
19
IR Detector Selection
Infrared
Detectors 1kHz
LEDs Selector
counter
To
next
stage
1
0
1
AD16 AD15
Counter pulse
reset 1 Increment count (0 to 1
transition)
1 Count output set to zero
0 Get ready to count
20
Beacon Frequency Selection
(filter)
Tuning circuit
amplifier
1kHz
To next
stage
From
previous
stage
AD14
Freq select (0=1kHz, 1=10kHz)
21
Exposure Control Circuit
From
previous Amplifier
stage
AD15
To AD1
(VEX
1 Clear ‘film’ (discharge C14) Analog
input)
0 Open ‘shutter’ (allow C14 to charge)
22
