Thymio-Show 2014: Difference between revisions

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(Replaced content with "= Sources = == Kanon == Der Kanon lässt drei Thymios einen Kanon singen. Dazu brauchen alle 3 Thymios eine SD-Card mit 3 Soundtracks: P0.wav, P1.wav, P2.wav Die Sound mü...")
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Der folgende code wird auf den ThymioII geladen:
Der folgende code wird auf den ThymioII geladen:


<syntaxhighlight lang="c">
[file:kanon.aesl | Thymio-Code]
<node nodeId="1" name="thymio-II">var fullspeed = 350
var fullspeedleft = fullspeed
var fullspeedright = fullspeed
var leftslowdown = 0
var rightslowdown = 0
var frontslowdown = 0
var leftspeed[64]
var rightspeed[64]
var unitvector[64]
var speedindex = 0
var sumleftspeed = 0
var sumrightspeed = 0
var stuckturntime = 0
 
var searchturn = 0
var lastsearchturn = 0
var searchturntime = 0
var light_intensity = 0
 
#sound variables
var sound_playing = 0
var currentSound = 0
var currentSoundTest = 0
var SingerNr = 0 #bits 1-2
var EinsatzNr = 0 #bits 3-4
var NrSingers = 0 #bits 5-6
var SingerID      #bits 7-10
var RandomVar[1]
 
var SingerTest = 0
var i = 0
 
var go = 0
 
# variables for localComm
var incoming = 0
var incoming_SingerNr
var incoming_EinsatzNr
var incoming_NrSingers
var incoming_SingerID
 
var topled[8]
 
call math.fill(prox.comm.rx._payloads,0)
call math.rand(RandomVar[0])
if RandomVar[0] &lt; 0 then
RandomVar[0] = -RandomVar[0]
end
SingerID = RandomVar[0] % 7 + 1
 
prox.comm.tx = 0
prox.comm.tx = SingerNr + (EinsatzNr &lt;&lt; 2) + (NrSingers &lt;&lt; 4) + (SingerID &lt;&lt; 6) #send this
prox.comm.rx = 0 #receive this
call prox.comm.enable(1)
 
#initialize arrays
call math.fill(unitvector, 1)
 
#use timer0 to initiate u turn timer time in ms
timer.period[0] = 15000
#use timer 1 to update bottom leds, disable here, start when robot is singing
timer.period[1] = 0
 
 
# anderer roboter hier
onevent prox.comm
incoming = prox.comm.rx
incoming_SingerNr = incoming &amp; 0x3
incoming_EinsatzNr = (incoming >> 2) &amp; 0x3
incoming_NrSingers = (incoming >> 4) &amp; 0x3
incoming_SingerID = (incoming >> 6) &amp; 0xF
 
# first Singer just plays sound
if  SingerNr == 1 then
if  sound_playing == 0 then
call sound.play(currentSound)
EinsatzNr = currentSound
sound_playing = 1
end
end
#sanity check
if  SingerNr > NrSingers then
NrSingers = SingerNr
prox.comm.tx = SingerNr + (EinsatzNr &lt;&lt; 2) + (NrSingers &lt;&lt; 4) + (SingerID &lt;&lt; 6) #send this
elseif incoming > 64  then  # singerID immer > 0
    #set new send value
    prox.comm.tx = 0
 
if incoming_NrSingers &lt; NrSingers then
prox.comm.tx = SingerNr + (EinsatzNr &lt;&lt; 2) + (NrSingers &lt;&lt; 4) + (SingerID &lt;&lt; 6) #send this
elseif  SingerNr == 0 then
# incoming NrSingers still 0, first encounter
if incoming_NrSingers == 0  then
# in the rare case that both robots have the same SingerID, create new and return
if incoming_SingerID == SingerID then
call math.rand(RandomVar[0])
if RandomVar[0] &lt; 0 then
RandomVar[0] = -RandomVar[0]
end
SingerID = RandomVar[0] % 7 + 1
return
elseif incoming_SingerID > SingerID then
SingerNr = 1
NrSingers = 1
end
elseif incoming_SingerNr == 1 then
SingerNr = incoming_NrSingers + 1
NrSingers = SingerNr
prox.comm.tx = SingerNr + (EinsatzNr &lt;&lt; 2) + (NrSingers &lt;&lt; 4) + (SingerID &lt;&lt; 6) #send this
end
elseif  SingerNr > 1 then
#play on sync, EinsatzNr is the same for all robots 0-2
EinsatzNr = incoming_EinsatzNr
if currentSound != (EinsatzNr + SingerNr - 1) % 3 then
currentSound = (EinsatzNr + SingerNr - 1) % 3
call sound.play(currentSound)
end
end
 
#update Nrsingers if new singer is present
  if incoming_SingerNr >= NrSingers then
  NrSingers = incoming_SingerNr
  prox.comm.tx = SingerNr + (EinsatzNr &lt;&lt; 2) + (NrSingers &lt;&lt; 4) + (SingerID &lt;&lt; 6) #send this
  end
  #sync NrSingers
  if incoming_NrSingers > NrSingers then
  NrSingers = incoming_NrSingers
  prox.comm.tx = SingerNr + (EinsatzNr &lt;&lt; 2) + (NrSingers &lt;&lt; 4) + (SingerID &lt;&lt; 6) #send this
  end
  if SingerNr &lt; 2 then # all singers oher than 1 just listen
  prox.comm.tx = SingerNr + (EinsatzNr &lt;&lt; 2) + (NrSingers &lt;&lt; 4) + (SingerID &lt;&lt; 6) #send this
  end
end
#show value on topleds
call math.fill(topled,0)
for i in 0:7 do
topled[i] = (prox.comm.tx >> i) &amp; 0x1
end
call leds.circle(topled[0], topled[1], topled[2], topled[3], topled[4], topled[5], topled[6], topled[7])
 
 
onevent buttons
when button.center == 1 do
go = 1 - go
end
 
onevent timer0
searchturn++
 
onevent timer1
light_intensity = mic.intensity
call leds.bottom.left(1+light_intensity/10, 2, 2)
call leds.bottom.right(2, 1+light_intensity/10, 2)
 
onevent prox
# Robot drives around searching for others until it has found one
if SingerNr == 0 then
if  searchturn != lastsearchturn then
call leds.circle(16, 16, 16, 16, 16, 16, 16, 16)
 
searchturntime++
# right turn for uneven searchturn
if searchturn % 2 == 1 then
fullspeedright = fullspeed
fullspeedleft = fullspeed / 3
else
# left turn for even searchturns
fullspeedright = fullspeed / 3
fullspeedleft = fullspeed
end
 
if searchturntime > 35 then
searchturntime = 0
lastsearchturn = searchturn
fullspeedleft = fullspeed
fullspeedright = fullspeed
call leds.circle(0, 0, 0, 0, 0, 0, 0, 0)
end
end
 
if  searchturntime >0 then
call math.muldiv(leftslowdown, prox.horizontal[4]*2 + prox.horizontal[3]/2, fullspeedleft, 4500)
call math.muldiv(rightslowdown, prox.horizontal[0]*2 + prox.horizontal[1]/2, fullspeedright, 4500)
else
call math.muldiv(leftslowdown, prox.horizontal[4] + prox.horizontal[3], fullspeedleft, 4500)
call math.muldiv(rightslowdown, prox.horizontal[0] + prox.horizontal[1], fullspeedright, 4500)
end
call math.muldiv(frontslowdown, prox.horizontal[2], (fullspeedleft + fullspeedright)/2, 3000)
call math.min(leftslowdown, leftslowdown, fullspeedleft)
call math.min(rightslowdown, rightslowdown, fullspeedright)
call math.min(frontslowdown, frontslowdown, (fullspeedleft + fullspeedright)/2)
 
leftspeed[speedindex] = fullspeedleft - leftslowdown - frontslowdown
rightspeed[speedindex] = fullspeedright - rightslowdown - frontslowdown
 
call math.dot(sumleftspeed, leftspeed, unitvector, 0)
 
# if the robot is stuck, drive backward turn for a while
when sumleftspeed &lt; 50 do
stuckturntime++
end
 
if stuckturntime > 0 then
stuckturntime++
leftspeed[speedindex] = -fullspeedleft
if  stuckturntime > 15 then
stuckturntime = 0
end
end
 
if  go == 1 then
motor.left.target = leftspeed[speedindex]
motor.right.target = rightspeed[speedindex]
else
motor.left.target = 0
motor.right.target = 0
end
speedindex++
speedindex = speedindex &amp; 0x3F
elseif go == 1 then
# Robot is singing (and dancing?)
#use timer 1 to update bottom leds
timer.period[1] = 100
#stop driving
motor.left.target = 0
motor.right.target = 0
 
else
call sound.play(-1)
sound_playing = 0
timer.period[1] = 0
end
 
 
onevent sound.finished
#start next Track only in Singer 1, others have to sync
if  SingerNr == 1 then
if currentSound &lt; 2 then
currentSound++
else
currentSound = 0
end
if  go == 1 then
call sound.play(currentSound)
EinsatzNr = currentSound
prox.comm.tx = SingerNr + (EinsatzNr &lt;&lt; 2) + (NrSingers &lt;&lt; 4) + (SingerID &lt;&lt; 6)
end
end
</syntaxhighlight>

Revision as of 23:18, 8 July 2014

Sources

Kanon

Der Kanon lässt drei Thymios einen Kanon singen. Dazu brauchen alle 3 Thymios eine SD-Card mit 3 Soundtracks: P0.wav, P1.wav, P2.wav Die Sound müssen 8bit und 8kHz sein. Jedes Soundfile enthält eine Strophe des Kanons. Der folgende code wird auf den ThymioII geladen:

[file:kanon.aesl | Thymio-Code]

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