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nhaulrik created page: Lab7 authored by Nikolaj Cilleborg Haulrik's avatar Nikolaj Cilleborg Haulrik
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...@@ -80,9 +80,11 @@ Change the program so that the car drives backwards a little when all the three ...@@ -80,9 +80,11 @@ Change the program so that the car drives backwards a little when all the three
We wish to implement a behavior that handles a situation where the robot is close to a surface in the directions front, left and right and makes a u-turn and drives in the opposite direction. To do this we use the following code (Fig.4): We wish to implement a behavior that handles a situation where the robot is close to a surface in the directions front, left and right and makes a u-turn and drives in the opposite direction. To do this we use the following code (Fig.4):
``` ```
// Back up and turn 180 degrees. while ( true )
{
// Back up and turn 180 degrees
if ( leftDistance < stopThreshold ){ if ( leftDistance < stopThreshold && rightDistance < stopThreshold && frontDistance < stopThreshold ){
// back up // back up
car.backward(power, power); car.backward(power, power);
...@@ -94,6 +96,7 @@ We wish to implement a behavior that handles a situation where the robot is clos ...@@ -94,6 +96,7 @@ We wish to implement a behavior that handles a situation where the robot is clos
car.backward(0, power); car.backward(0, power);
Delay.msDelay(2000); Delay.msDelay(2000);
} }
}
``` ```
##### Fig.4 - Code used to implement a U-turn behavior. ##### Fig.4 - Code used to implement a U-turn behavior.
If all distances are less than the stopThreshold the car backs up a little before it turns 180 degrees. If all distances are less than the stopThreshold the car backs up a little before it turns 180 degrees.
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