ࡱ> q` bjbjqPqP . ::4```tX X X X l t   $hhR39`"3 lt `  *6` HNX W 0";""`(33tttX tttX ttt NiGhT 2007 Opis labirinta. Labirint je dimenzija 2.5x2 metra.. udaljenost pregrada je oko 27 cm Visina pregrada je 7-10 cm Evo i slika  Postoje slijepi putevi a inace se postavljaju s obadvije strane tako da je jedino rjesenje izlaska iz labirinta pracenje samo jedne strane pregrada.. Iz proslog iskustva s ovim mislim da sam dosao do najbolje logike Na robot treba postaviti 3 senzora .  SHAPE \* MERGEFORMAT  Ne znam kako da objasnim logiku ali potruditi cu se i to je nesto. Nagli senzor sluzi za naglo skretanje kada doe do kraja desne pregrade. Prednji senzor sluzi samo za skretanje lijevo u slucaju da se dogodi da svi senzori vide pregradu& a desni senzor je za voznju na ravnini& ovo bi bila rutina za voznju kada nema zavoja, znaci izravnavanje prema pregradi i voznja paralelno sa pregradom: Main: If desni = 1 then desno If desni = 0 then lijevo Desno: Ukljucujemo samo lijevi motor Goto main Lijevo: Ukljucujemo samo desni motor Goto main Znaci taj desni senzor ce stalno titrati oko udaljenosti i naizmjence paliti i lijevi i desni motor. U praksi sam isprobao ovo i robot ide savrseno ravno kraj pregrede a tome dosta pomaze i tromost motora trebamo dodati uvjeti kada nestane te pregrade evo npr ova situacija:  Sada u igru ulazi i ovaj nagli senzor. On gleda dalje od ovog desnog dok robot prolazi ravninom on uvijek vidi pregradu ali u ovakvoj situaciji on dolazi do izrazaja. Kada on prestane vidjeti pregradu znaci da dolazi desni zavoj i tu robot mora skretati naglo desno jer prati desnu pregradu.. skrece sve dok god taj nagli senzor ponovno ne uhvati pregradu a to ce biti kada odvozimo zavoj. I onda opet izravnavanje sa desnim senzorom. Prednji senzor ima ulogu samo u situaciji kada se ovo pojavi:  U ovom slucaju sva tri senzora vide pregradu i robot treba skretati lijevo sve dok prednji vidi pregradu, Cijeli program bi trebao izgledati nekako ovako: Main: Provjera senzora If prednji = 0 then lijevo If nagli = 1 then desno if nagli = 0 then izravnavanje goto main desno: u ovoj rutini treba podesiti motore da robot najbolje prolazi taj zavoj goto main lijevo: za lijevo isto podesiti motore goto main izravnavanje: if desni = 0 then ugasi desni motor if lijevi = 0 ugasi lijevi motor goto main Pregrada Prednji Desni    r 6 7 ֳֳււoccPcLJLFh,aGUh}!%j{hhCJUaJmHsHhCJaJmHsH%jhhCJUaJmHsHhCJaJmHsH%jh}!h}!CJUaJmHsH"jh}!CJUaJmHnHujh}!CJUaJmHsH%jh}!h}!CJUaJmHsHh}!CJaJmHsHh}!5CJ$aJ$mHsHh}!h}!5CJ$aJ$mHsH  c% & i j 7 = U n o v  KL~AKLTs}~ gd}!Nagli senzor Robot hCJaJmHsH,1h/ =!"#$% Dd<-22Z  C 6AImage_464_6448RJ~zRE¥eŰަD&DF~zRE¥eŰަDExifII*1J2fizACD Systems Digital Imaging2004:05:17 10:38:270220437R980100!   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