Robots suiveurs 3 - Code “emitter receiver” - Historique des versions

De-almeida-ribeiro.thiago : De-almeida-ribeiro.thiago a déplacé la page Robots suiveurs 3 - Code “emiiter receiver” vers Robots suiveurs 3 - Code “emitter receiver”

2020-05-06T17:15:45Z

De-almeida-ribeiro.thiago a déplacé la page Robots suiveurs 3 - Code “emiiter receiver” vers Robots suiveurs 3 - Code “emitter receiver”

De-almeida-ribeiro.thiago le 6 mai 2020 à 17:15

2020-05-06T17:15:27Z

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2020-05-06T17:14:52Z

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De-almeida-ribeiro.thiago : Page créée avec « /* * Copyright 1996-2020 Cyberbotics Ltd. * * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in complianc... »

2020-05-06T16:57:30Z

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<nowiki>
/*
* Copyright 1996-2020 Cyberbotics Ltd.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/

/*
* Description: A controller which sends datas from the emitter to the
* receiver while the robots avoid the obstacles.
*/

#include <stdio.h>
#include <string.h>
#include <webots/distance_sensor.h>
#include <webots/emitter.h>
#include <webots/motor.h>
#include <webots/receiver.h>
#include <webots/robot.h>

#define SPEED 6
#define TIME_STEP 64
#define COMMUNICATION_CHANNEL 1

typedef enum { EMITTER, RECEIVER } robot_types;

int main() {
WbDeviceTag ds0, ds1, communication, left_motor, right_motor;
robot_types robot_type;x'
int message_printed = 0; /* used to avoid printing continuously the communication state */
double left_speed, right_speed;

wb_robot_init();

/* get a handler to the motors and set target position to infinity (speed control). */
left_motor = wb_robot_get_device("left wheel motor");
right_motor = wb_robot_get_device("right wheel motor");
wb_motor_set_position(left_motor, INFINITY);
wb_motor_set_position(right_motor, INFINITY);
wb_motor_set_velocity(left_motor, 0.0);
wb_motor_set_velocity(right_motor, 0.0);

/*
* as we are using the same controller for the emitter and the reciever,
* we need to differentiate them
*/
if (strncmp(wb_robot_get_name(), "MyBot emitter", 13) == 0) {
robot_type = EMITTER;
communication = wb_robot_get_device("emitter");

/* if the cannel is not the right one, change it */
const int channel = wb_emitter_get_channel(communication);
if (channel != COMMUNICATION_CHANNEL) {
wb_emitter_set_channel(communication, COMMUNICATION_CHANNEL);
}
} else if (strncmp(wb_robot_get_name(), "MyBot receiver", 14) == 0) {
robot_type = RECEIVER;
communication = wb_robot_get_device("receiver");
wb_receiver_enable(communication, TIME_STEP);
} else {
printf("Unrecognized robot name '%s'. Exiting...\n", wb_robot_get_name());
wb_robot_cleanup();
return 0;
}

/* get a handler to the distance sensors and enable them */
ds0 = wb_robot_get_device("ds0");
ds1 = wb_robot_get_device("ds1");
wb_distance_sensor_enable(ds0, TIME_STEP);
wb_distance_sensor_enable(ds1, TIME_STEP);

while (wb_robot_step(TIME_STEP) != -1) {
/*
* the emitter simply sends the message but the receiver
* has to check if there is something before it can reads the buffer.
*/
if (robot_type == EMITTER) {
/* send null-terminated message */
const char *message = "Hello!";
wb_emitter_send(communication, message, strlen(message) + 1);
} else {
/* is there at least one packet in the receiver's queue ? */
if (wb_receiver_get_queue_length(communication) > 0) {
/* read current packet's data */
const char *buffer = wb_receiver_get_data(communication);

if (message_printed != 1) {
/* print null-terminated message */
printf("Communicating: received \"%s\"\n", buffer);
message_printed = 1;
}
/* fetch next packet */
wb_receiver_next_packet(communication);
} else {
if (message_printed != 2) {
printf("Communication broken!\n");
message_printed = 2;
}
}
}

const double ds0_value = wb_distance_sensor_get_value(ds0);
const double ds1_value = wb_distance_sensor_get_value(ds1);

if (ds1_value > 500) {
/*
* If both distance sensors are detecting something, this means that
* we are facing a wall. In this case we need to move backwards.
*/
if (ds0_value > 200) {
if (robot_type == EMITTER) {
left_speed = -SPEED;
right_speed = -SPEED / 2;
} else {
left_speed = -SPEED / 2;
right_speed = -SPEED;
}
} else {
/*
* we turn proportionnaly to the sensors value because the
* closer we are from the wall, the more we need to turn.
*/
left_speed = -ds1_value / 100;
right_speed = (ds0_value / 100) + 0.5;
}
} else if (ds0_value > 500) {
left_speed = (ds1_value / 100) + 0.5;
right_speed = -ds0_value / 100;
} else {
/*
* if nothing was detected we can move forward at maximal speed.
*/
left_speed = SPEED;
right_speed = SPEED;
}

/* set the motor speeds. */
wb_motor_set_velocity(left_motor, left_speed);
wb_motor_set_velocity(right_motor, right_speed);
}

wb_robot_cleanup();

return 0;
}
</nowiki>

← Version précédente		Version du 6 mai 2020 à 17:14
Ligne 1 :		Ligne 1 :
−	~~<nowiki>~~
−	/*
−	* Copyright 1996-2020 Cyberbotics Ltd.
−	*
−	* Licensed under the Apache License, Version 2.0 (the "License");
−	* you may not use this file except in compliance with the License.
−	* You may obtain a copy of the License at
−	*
−	* http://www.apache.org/licenses/LICENSE-2.0
−	*
−	* Unless required by applicable law or agreed to in writing, software
−	* distributed under the License is distributed on an "AS IS" BASIS,
−	* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
−	* See the License for the specific language governing permissions and
−	* limitations under the License.
−	*/

−	/*
−	* Description: A controller which sends datas from the emitter to the
−	* receiver while the robots avoid the obstacles.
−	*/
−
−	~~#include <stdio.h>~~
−	~~#include <string.h>~~
−	~~#include <webots/distance_sensor.h>~~
−	~~#include <webots/emitter.h>~~
−	~~#include <webots/motor.h>~~
−	~~#include <webots/receiver.h>~~
−	~~#include <webots/robot.h>~~
−
−	~~#define SPEED 6~~
−	~~#define TIME_STEP 64~~
−	~~#define COMMUNICATION_CHANNEL 1~~
−
−	~~typedef enum { EMITTER, RECEIVER } robot_types;~~
−
−	~~int main() {~~
−	~~WbDeviceTag ds0, ds1, communication, left_motor, right_motor;~~
−	~~robot_types robot_type;x'~~
−	~~int message_printed = 0; /* used to avoid printing continuously the communication state */~~
−	~~double left_speed, right_speed;~~
−
−	~~wb_robot_init();~~
−
−	~~/* get a handler to the motors and set target position to infinity (speed control). */~~
−	~~left_motor = wb_robot_get_device("left wheel motor");~~
−	~~right_motor = wb_robot_get_device("right wheel motor");~~
−	~~wb_motor_set_position(left_motor, INFINITY);~~
−	~~wb_motor_set_position(right_motor, INFINITY);~~
−	~~wb_motor_set_velocity(left_motor, 0.0);~~
−	~~wb_motor_set_velocity(right_motor, 0.0);~~
−
−	/*
−	* as we are using the same controller for the emitter and the reciever,
−	* we need to differentiate them
−	*/
−	~~if (strncmp(wb_robot_get_name(), "MyBot emitter", 13) == 0) {~~
−	~~robot_type = EMITTER;~~
−	~~communication = wb_robot_get_device("emitter");~~
−
−	~~/* if the cannel is not the right one, change it */~~
−	~~const int channel = wb_emitter_get_channel(communication);~~
−	~~if (channel != COMMUNICATION_CHANNEL) {~~
−	~~wb_emitter_set_channel(communication, COMMUNICATION_CHANNEL);~~
−	}
−	~~} else if (strncmp(wb_robot_get_name(), "MyBot receiver", 14) == 0) {~~
−	~~robot_type = RECEIVER;~~
−	~~communication = wb_robot_get_device("receiver");~~
−	~~wb_receiver_enable(communication, TIME_STEP);~~
−	~~} else {~~
−	~~printf("Unrecognized robot name '%s'. Exiting...\n", wb_robot_get_name());~~
−	~~wb_robot_cleanup();~~
−	~~return 0;~~
−	}
−
−	~~/* get a handler to the distance sensors and enable them */~~
−	~~ds0 = wb_robot_get_device("ds0");~~
−	~~ds1 = wb_robot_get_device("ds1");~~
−	~~wb_distance_sensor_enable(ds0, TIME_STEP);~~
−	~~wb_distance_sensor_enable(ds1, TIME_STEP);~~
−
−	~~while (wb_robot_step(TIME_STEP) != -1) {~~
−	/*
−	* the emitter simply sends the message but the receiver
−	* has to check if there is something before it can reads the buffer.
−	*/
−	~~if (robot_type == EMITTER) {~~
−	~~/* send null-terminated message */~~
−	~~const char *message = "Hello!";~~
−	~~wb_emitter_send(communication, message, strlen(message) + 1);~~
−	~~} else {~~
−	~~/* is there at least one packet in the receiver's queue ? */~~
−	~~if (wb_receiver_get_queue_length(communication) > 0) {~~
−	~~/* read current packet's data */~~
−	~~const char *buffer = wb_receiver_get_data(communication);~~
−
−	~~if (message_printed != 1) {~~
−	~~/* print null-terminated message */~~
−	~~printf("Communicating: received \"%s\"\n", buffer);~~
−	~~message_printed = 1;~~
−	}
−	~~/* fetch next packet */~~
−	~~wb_receiver_next_packet(communication);~~
−	~~} else {~~
−	~~if (message_printed != 2) {~~
−	~~printf("Communication broken!\n");~~
−	~~message_printed = 2;~~
−	}
−	}
−	}
−
−	~~const double ds0_value = wb_distance_sensor_get_value(ds0);~~
−	~~const double ds1_value = wb_distance_sensor_get_value(ds1);~~
−
−	~~if (ds1_value > 500) {~~
−	/*
−	* If both distance sensors are detecting something, this means that
−	* we are facing a wall. In this case we need to move backwards.
−	*/
−	~~if (ds0_value > 200) {~~
−	~~if (robot_type == EMITTER) {~~
−	~~left_speed = -SPEED;~~
−	~~right_speed = -SPEED / 2;~~
−	~~} else {~~
−	~~left_speed = -SPEED / 2;~~
−	~~right_speed = -SPEED;~~
−	}
−	~~} else {~~
−	/*
−	* we turn proportionnaly to the sensors value because the
−	* closer we are from the wall, the more we need to turn.
−	*/
−	~~left_speed = -ds1_value / 100;~~
−	~~right_speed = (ds0_value / 100) + 0.5;~~
−	}
−	~~} else if (ds0_value > 500) {~~
−	~~left_speed = (ds1_value / 100) + 0.5;~~
−	~~right_speed = -ds0_value / 100;~~
−	~~} else {~~
−	/*
−	* if nothing was detected we can move forward at maximal speed.
−	*/
−	~~left_speed = SPEED;~~
−	~~right_speed = SPEED;~~
−	}
−
−	~~/* set the motor speeds. */~~
−	~~wb_motor_set_velocity(left_motor, left_speed);~~
−	~~wb_motor_set_velocity(right_motor, right_speed);~~
−	}
−
−	~~wb_robot_cleanup();~~
−
−	~~return 0;~~
−	}
−	~~</nowiki>~~

← Version précédente	Version du 6 mai 2020 à 17:15
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