View unanswered posts | View active topics It is currently Thu Oct 23, 2014 12:34 am






Reply to topic  [ 6 posts ] 
Curriculum Companion -- both Sonar and Compass aren't workin 
Author Message
Rookie

Joined: Wed Nov 16, 2011 1:24 pm
Posts: 4
Post Curriculum Companion -- both Sonar and Compass aren't workin
Using Curriuculum Companionm trying to do the Obstacle Course and I don't seem to be getting correct values for either the Compass or Sonar Sensor.

Sonar is always -1.

I have everything on the correct ports.

Code:
#pragma config(Sensor, S1,     touchSensor,              sensorTouch)
#pragma config(Sensor, S2,     compassSensor,            sensorVirtualCompass)
#pragma config(Sensor, S3,     lightSensor,              sensorLightActive)
#pragma config(Sensor, S4,     sonarSensor,              sensorSONAR)
#pragma config(Motor,  motorA,          gripperMotor,       tmotorNormal, PIDControl, encoder)
#pragma config(Motor,  motorB,          rightMotor,         tmotorNormal, PIDControl, encoder)
#pragma config(Motor,  motorC,          leftMotor,          tmotorNormal, PIDControl, encoder)
//*!!Code automatically generated by 'ROBOTC' configuration wizard               !!*//

task main()
{
   nMotorEncoder[motorC]=0;

   while(SensorValue[touchSensor]==0)
{
   motor[rightMotor] = 75;        // Motor on motorB is run at full (100) power forward
   motor[leftMotor]  = 75;        // Motor on motorC is run at full (100) power forward
}

  motor[rightMotor] =0;
  motor[leftMotor]=0;



}                                            // Program ends, and the robot stops
//++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++



I also checked to make sure I had the right platform.


Mon Sep 23, 2013 1:40 pm
Profile
Site Admin
Site Admin
User avatar

Joined: Tue Oct 09, 2012 10:34 am
Posts: 192
Post Re: Curriculum Companion -- both Sonar and Compass aren't wo
Hi Kath,
Make sure your ROBOTC is updated. In recent versions of the Curriculum Companion, the robots are equipped with gyro sensors rather than compasses. Gyros give values in 1/10s of a degree.

A sonar value of -1 means the robot isn't seeing any obstacles (see here for more info on this). To help you diagnose what the sonar sensor is (or isn't) observing, try clicking the the button in the bottom-right corner of the in-game interface (looks like a camera with waves coming out of it).

Best,
--Ryan

_________________
Ryan Cahoon
CMU Robotics Academy
RVW Software Developer

Robot Potato Head; Virtual NXT


Mon Sep 23, 2013 1:50 pm
Profile
Rookie

Joined: Wed Nov 16, 2011 1:24 pm
Posts: 4
Post Re: Curriculum Companion -- both Sonar and Compass aren't wo
rcahoon wrote:
Hi Kath,
Make sure your ROBOTC is updated. In recent versions of the Curriculum Companion, the robots are equipped with gyro sensors rather than compasses. Gyros give values in 1/10s of a degree.

A sonar value of -1 means the robot isn't seeing any obstacles (see here for more info on this). To help you diagnose what the sonar sensor is (or isn't) observing, try clicking the the button in the bottom-right corner of the in-game interface (looks like a camera with waves coming out of it).

Best,
--Ryan


Running the latest updates.

We do see the camera with waves coming out of it, and it appears the waves may be shooting up over the obstacles in the table, is there a way to move the sensors down?

The gyro values still seem odd.


Mon Sep 23, 2013 2:10 pm
Profile
Site Admin
Site Admin
User avatar

Joined: Tue Oct 09, 2012 10:34 am
Posts: 192
Post Re: Curriculum Companion -- both Sonar and Compass aren't wo
No way to move the sensors, no. You can select a different model of robot from the Robots tab in the main menu, though.

What's odd about the gyro values?

_________________
Ryan Cahoon
CMU Robotics Academy
RVW Software Developer

Robot Potato Head; Virtual NXT


Mon Sep 23, 2013 4:38 pm
Profile
Rookie

Joined: Wed Nov 16, 2011 1:24 pm
Posts: 4
Post Re: Curriculum Companion -- both Sonar and Compass aren't wo
When the robot spins, the gyro values continue to go up, rather than going back down to zero.


Mon Sep 23, 2013 4:55 pm
Profile
Site Admin
Site Admin
User avatar

Joined: Tue Oct 09, 2012 10:34 am
Posts: 192
Post Re: Curriculum Companion -- both Sonar and Compass aren't wo
Gyro sensors actually measure the rate of rotation, rather than the absolute angle like a compass. We obtain the reported gyro measurement by integrating the rate value. This means that as long as the robot keeps rotating in the same direction, the angle value will keep increasing or decreasing in the same direction. If you want to normalize the angle value, you can calculate the value modulus 3600:

Code:
(SensorValue[gyroSensor] % 3600 + 3600) % 3600


This code looks rather complex because it has to deal with negative numbers as well. This will return a number between 0 and 3599 representing 0 to 359.9 degrees.

_________________
Ryan Cahoon
CMU Robotics Academy
RVW Software Developer

Robot Potato Head; Virtual NXT


Mon Sep 23, 2013 5:13 pm
Profile
Display posts from previous:  Sort by  
Reply to topic   [ 6 posts ] 

Who is online

Users browsing this forum: No registered users and 2 guests


You cannot post new topics in this forum
You cannot reply to topics in this forum
You cannot edit your posts in this forum
You cannot delete your posts in this forum
You cannot post attachments in this forum

Search for:
Jump to:  



Powered by phpBB © 2000, 2002, 2005, 2007 phpBB Group.
Designed by ST Software for PTF.