C:/Users/Michael/Desktop/trunk/program/demo/runbreitenberg_adv.c File Reference

Obstacles follower/avoider. More...

#include "motor_led/e_init_port.h"
#include "motor_led/advance_one_timer/e_motors.h"
#include "motor_led/advance_one_timer/e_led.h"
#include "motor_led/advance_one_timer/e_agenda.h"
#include "uart/e_uart_char.h"
#include "a_d/advance_ad_scan/e_ad_conv.h"
#include "a_d/advance_ad_scan/e_prox.h"
#include "./runbreitenberg_adv.h"

Functions
void	shock_neuron (void)
	Calcul the speed to set on each wheel for avoiding.
int	lin_speed_calc (int distance, int gain)
	Calcul the speed to set on each wheel for following.
void	run_breitenberg_follower (void)
	The "main" function of the follower demo.
void	run_breitenberg_shocker (void)
	The "main" function of the avoider demo.

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Detailed Description

Obstacles follower/avoider.

Introduction

This demo is made to illustrate how to use the 8 proximities sensors.
The demo is divided in two programms:

• A programm to follow what is detected on the front of the e-puck (for exemple another e-puck).
• A programm to avoid the obstacles.

These two programms work exactelly on the same way. First we do the acquisition of the proxymities sensor and then we do a level-headed sum of this acquisition. Finally we set the speed in concordance of the level-headed sum.

Playing the demo

Playing the follower

First of all, move the selector to the position 4 and reset the e-puck. The e-puck will go forward until he meets anything (it works good with fingers or another e-puck). After that he will follow him by staying always on the same distance.

Playing the avoider

First of all, move the selector to the position 5 and reset the e-puck. The e-puck will go forward until he meets an obstacle. At this time he will find the better way to avoid him.

Video of the demo

• The video of the follower demo: http://www.youtube.com/watch?v=6DYp5O1cnew
• The video of the avoider demo: http://www.youtube.com/watch?v=Y-RsvDyUfUE

Author:

Code: Michael Bonani, Jonathan Besuchet
Doc: Jonathan Besuchet

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Function Documentation

int lin_speed_calc	(	int	distance,
		int	gain
	)

Calcul the speed to set on each wheel for following.

Here we do a level-headed sum to take advantage of each captor depending of there position. For exemple if the captor number 0 detect something, he has to set the left speed high and set the right speed low.

void shock_neuron

(

void

)

Calcul the speed to set on each wheel for avoiding.

Here we do a level-headed sum to take advantage of each captor depending of there position. For exemple if the captor number 0 detect something, he has to set the right speed high and set the left speed low.

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