小組會議記錄 課 程 名 稱 智慧系統設計與應用
授 課 教 師 林金玲
組
別 第一組
組
主
題 E-puck 程式討論
日
期
時
間
14
地
點
Facebook 社團、RC 線上聊天室
101
年
時 0
4 月 分
～
13 16
長
蕭姿俞
日 時
30
分
出 席 成 員 林書瑄、蕭姿俞、黃懷恩、費宗儒、吳育碩 記
錄
者
蕭姿俞 內
容
一、 使用 webots 模擬程式 二、 決定使用於言為 C ，java 使用有問題 三、 工作比例： 1.
蕭姿俞：100%
2.
林書瑄：80%
3.
費宗儒：0% (備註：電腦送修)
4.
黃還恩、吳育碩：0%
四、 理解範例程式，加以修改 1. Include 所需 API #include <webots/robot.h> #include <webots/distance_sensor.h> #include <stdio.h> #include <stdlib.h> #include <webots/servo.h> #include <math.h> #define TIME_STEP 32 #define
SAFE_DISTANCE
200
2. 主程式 int main(int argc, char **argv) { wb_robot_init();
//robot 初始化
wb_robot_init(); int counter_B =0; static WbDeviceTag DS_Left1, DS_Right1, DS_Left2, DS_Right2, DS;
老師
static WbDeviceTag wheel1, wheel2, wheel3, wheel4;
DS_Left1 = wb_robot_get_device("DS_Left1"); wb_distance_sensor_enable(DS_Left1,TIME_STEP);
DS_Left2 = wb_robot_get_device("DS_Left2"); wb_distance_sensor_enable(DS_Left2,TIME_STEP);
DS_Right1 = wb_robot_get_device("DS_Right1"); wb_distance_sensor_enable(DS_Right1,TIME_STEP);
DS_Right2 = wb_robot_get_device("DS_Right2"); wb_distance_sensor_enable(DS_Right2,TIME_STEP);
DS = wb_robot_get_device("DS"); wb_distance_sensor_enable(DS,TIME_STEP);
wheel1 = wb_robot_get_device("Wheel1"); wheel2 = wb_robot_get_device("Wheel2"); wheel3 = wb_robot_get_device("Wheel3"); wheel4 = wb_robot_get_device("Wheel4");
double Wheel1_R=wheel1; double Wheel2_R=wheel2; double Wheel3_R=wheel3; double Wheel4_R=wheel4;
double Max_R=0.15; double Min_R=-0.15; /* main loop */ while(1){ double valueLeft1, valueRight1, valueLeft2, valueRight2, valueDS;
int delay = wb_robot_step(TIME_STEP); if(delay==-1)break;
valueLeft1 =wb_distance_sensor_get_value(DS_Left1); valueLeft2 =wb_distance_sensor_get_value(DS_Left2); valueRight1 =wb_distance_sensor_get_value(DS_Right1); valueRight2 =wb_distance_sensor_get_value(DS_Right2); valueDS =wb_distance_sensor_get_value(DS);
if((Wheel1_R>Max_R)&&(Wheel2_R>Max_R)&&(Wheel3_R>Max_R)&&(Wheel4_R>Max_R)&& (Wheel1_R<Min_R)&&(Wheel2_R<Min_R)&&(Wheel3_R<Min_R)&&(Wheel4_R<Min_R)) { Wheel1_R=0.05; Wheel2_R=0.05; Wheel3_R=0.05; Wheel4_R=0.05; } //前方有障礙 else {
if((valueDS>20)&&(valueLeft1<SAFE_DISTANCE)&&(valueRight1<SAFE_DISTANCE)) { Wheel1_R -= 0.1; Wheel2_R -= 0.1; Wheel3_R -= 0.1; Wheel4_R -= 0.1; wb_servo_set_position(wheel1,Wheel1_R); wb_servo_set_position(wheel2,Wheel2_R); wb_servo_set_position(wheel3,Wheel3_R); wb_servo_set_position(wheel4,Wheel4_R); //右轉 Wheel1_R = 0; Wheel2_R += 0.05; Wheel3_R = 0; Wheel4_R += 0.05; } else if(((valueLeft2<SAFE_DISTANCE)&&(valueRight2<SAFE_DISTANCE))) {//後方障礙，前進 if(counter_B ==0) { Wheel1_R +=0.1; Wheel2_R +=0.1; Wheel3_R +=0.1; Wheel4_R +=0.1; } else {//左轉 Wheel1_R += 0.05; Wheel2_R = 0;
Wheel3_R += 0.05; Wheel4_R = 0; counter_B=0; } counter_B++; } else if(valueLeft1<SAFE_DISTANCE)//右方障礙 { //左轉 Wheel1_R += 0.05; Wheel2_R = 0; Wheel3_R += 0.05; Wheel4_R = 0; } else if(valueRight1<SAFE_DISTANCE)//左方障礙 {//右轉 Wheel1_R = 0; Wheel2_R += 0.05; Wheel3_R = 0; Wheel4_R += 0.05; } else { Wheel1_R += 0.05; Wheel2_R += 0.05; Wheel3_R += 0.05; Wheel4_R += 0.05; } } wb_servo_set_position(wheel1,Wheel1_R); wb_servo_set_position(wheel2,Wheel2_R); wb_servo_set_position(wheel3,Wheel3_R); wb_servo_set_position(wheel4,Wheel4_R);
} wb_robot_cleanup(); return 0; }