22 Jul 2002 davee   » (Master)

Kanati-1 LIVES!

As I expected, I used a CD jewel case for the chassie, mounted the three transducers about 45 degrees apart. May need to move them even farther apart but it never seems to bump in to anything with the avoidance range set to 4 inches.

I'm using a simple avoidance algorithm;

  public static void main() {
  int rc;
  k = new Kanati();     //create the robot object
  System.out.println("K1...online");
  k.sleep(5);
  k.moving=false;
  k.initializeSONAR();
  k.minRange=4;
while(true){
 //robot code here
   CPU.delay(100);

rc=k.checkSONAR(); k.moving=true; while (rc == 3){ k.move(); CPU.delay(1000); rc=k.checkSONAR(); } if (scanForTarget()!=0){ fire(); } else { k.avoid(rc); // not an enemy, avoid it }

k.moving=false;

} // while loop } // main

k is the instantiated kanati class (robot object) where all the real code is at.

The avoid routines determine which sensor detected the obstacle and acts accordingly. If object detected Forward, backup and turn in a random direction. If right or left, turn in the opposite direction.

That's pretty much it so far. I will post some pictures on my website tonight.

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