Robot C简介文档

1、Robot C 简介文档一、Robot C介绍 1，编程语言：类C语言 2，程序设计软件：Robot C二、选用Robot C1，文本编写（文字菜单编辑）；调试程序（最大限度实时）；良好支持（多任务、多媒体、蓝牙等）。2，体积小巧（硬件配置要求低）；界面朴素（便于集中注意力）。3，便捷直观（F5键：编译与下载；自动出现调试窗口）。Robot C入门一、固件下载1，固件：机器人的操作系统（计算机与机器人进行交互）2，进入安装目录选择固件，例如D:Program FilesRobomatter IncROBOTC Development EnvironmentFirmware二、程序下载1，下载F

2、iles-Open Sample Program-Training SamplesMotorCycle Forward2，前进程序剖析：task man() /程序主体 motocmotocC=100; /C马达功率为100waitMsec(3000); /程序等待3000毫秒3，关于马达功率：（1）-100（全速后退）和100（全速前进）（2）电池电量饱和，摩擦阻力小，最快速度为每秒1000个编码器计数。通常是最大速度是750个计数点。4，关于滑动与制动task main()motormotorC=100;motormotocB=100;waitMsec(2000);motormotorC=

3、0; /C马达输出功率为0motocmotorB=0; /B马达输出功率为05，非全速动力6，后退运动7，反向运动三、传感器 1，触碰传感器： 通过触点告诉机器人是否接触到物体。 2，光电传感器：发射红外线，将接收到的光值返回给机器人，通过光值的大小和程序，进行颜色、距离等条件的估算。 3，声音传感器：识别声音强度，而非声音内容。 4，超声波传感器：间断地发射超声波并检测反射回来的超声波获知前方物体的距离。 5，角度传感器：方便控制马达精度精确运行，内置于马达。五、触碰传感器的使用案例1，实例程序存储目录D:Program FilesRobomatter IncROBOTC Developme

4、nt EnvironmentSampleProgramsNXTTouchSensorsnxt_wait_for_push.c2，触碰传感器碰到障碍物时进行后退，时间为1秒3，task main()While(SensorValue(touchSensor)=0)motormotorA=100;motormototrB=100;motormotorA=-75;motormotorB=-75;waitMsec(1000);4，房屋探索者（1）程序存储目录D:Program FilesRobomatter IncROBOTC Development EnvironmentSample Program

5、sNXTTouch SensorsBug Dot.c（2）机器人前段两个触碰传感器用来检测前方的障碍物，当右边马达碰到东西，机器人就后退一点，然后向左转，然后继续前进。反之亦然。（3）#pragma config(Sensor, S1, touchRight, sensorTouch)#pragma config(Sensor, S2, touchLeft, sensorTouch)task main() int randTime; / Declare variable randTime to hold a random amount of time later. wait1Msec(500)

6、; / Wait 500 milliseconds before running any further code. while(true) / Infinite loop (also represented by while(1) and for(;) which is read as for ever). motormotorC = 75; /* Motors A and B are run */ motormotorB = 75; /* at a power level of 75 */ if(SensorValue(touchRight) = 1) / If the Right Tou

7、ch Sensor is bumped (equal to 1): motormotorC = -75; /* Motors A and B are run */ motormotorB = -75; /* at a power level of -75 */ wait1Msec(750); /* for 750 milliseconds. */ motormotorC = 75; / Motor C is run forward at a power level of 75. motormotorB = -75; / Motor B is run backward at a power le

8、vel of -75. randTime = random(2000); / randTime is set to a random integer between 0 and 2000. wait1Msec(randTime); / Wait randTime amount of milliseconds. if(SensorValue(touchLeft) = 1) / If the Left Touch Sensor is bumped (equal to 1): motormotorC = -75; /* Motors A and B are run */ motormotorB =

9、-75; /* at a power level of -75 */ wait1Msec(750); /* for 750 milliseconds. */ motormotorC = -75; / Motor C is run backward at a power level of 75. motormotorB = 75; / Motor B is run forward at a power level of 75. randTime = random(2000); / randTime is set to a random integer bteween 0 and 2000. wa

10、it1Msec(randTime); / Wait randTime amount of milliseconds. 六、光电传感器的使用案例1，实例程序存储目录D:Program FilesRobomatter IncROBOTC Development EnvironmentSample ProgramsNXTLight SensorWait For Light Value.c2，机器人向前行进，一直到前端的光电传感器检测到黑暗的地面为止3，#pragma config(Sensor, S1, lightSensor, sensorLightActive)task main() wait1

11、Msec(50); / The program waits 50 milliseconds to initialize the light sensor. while(SensorValuelightSensor 45) / While the reading is greater than 45 (a light surface): NOTE- make this less than to detect light surfaces. motormotorB = 100; / Motor C is run at a 100 power level. motormotorC = 100; /

12、Motor B is run at a 100 power level. motormotorB = 0; / Motor C is stopped with a 0 power level. motormotorC = 0; / Motor B is stopped with a 0 power level.4，走黑线机器人（1）程序存储目录D:Program FilesRobomatter IncROBOTC Development EnvironmentSample ProgramsNXTLight SensorLine tracking.c（2）机器人沿着一条黑线前进。（3）#prag

13、ma config(Sensor, S3, lightSensor, sensorLightActive)task main() wait1Msec(50); / The program waits 50 milliseconds to initialize the light sensor. while(true) / Infinite loop if(SensorValuelightSensor 45) / If the Light Sensor reads a value less than 45: motormotorB = 60; / Motor B is run at a 60 p

14、ower level.motormotorC = 20; / Motor C is run at a 20 power level. else/ If the Light Sensor reads a value greater than or equal to 45: motormotorB = 20; / Motor B is run at a 20 power level.motormotorC = 60; / Motor C is run at a 60 power level. 六、声音传感器的使用案例1，实例程序存储目录D:Program FilesRobomatter IncRO

15、BOTC Development EnvironmentSample ProgramsNXTSound SensorClap off.c2，机器人向前行进，一直到安装在第一端口的声音传感器检测到比较大的声音为止3，#pragma config(Sensor, S1, soundSensor, sensorSoundDB)task main()wait1Msec(1000); / Wait for 1 second to ignore initial readings of the Sound Sensor.while(SensorValue(soundSensor) 70) / While t

16、he Sound Sensor is less than 70 (quiet):motormotorC = 75; / Motor C is run at a 75 power level.motormotorB = 75; / Motor B is run at a 75 power level.motormotorC = 0; /* Otherwise, when loud noises are heard, Motor C */motormotorB = 0; /* and motor B stop. */七、角度传感器的使用案例4，精确直线行走 （1）程序存储目录D:Program F

17、ilesRobomatter IncROBOTC Development EnvironmentSample ProgramsNXTSound SensorSound Drive.c（2）机器人沿着一条黑线前进。（3）task main()nMotorEncodermotorA = 0; /马达 A 清零nMotorEncodermotorB = 0; /马达 B 清零while(nMotorEncodermotorA 1800 | nMotorEncodermotorB -1800) /循环检测马达 A 的角度传感器累计的数值if(SensorValue(lightSensor) distance_in_cm) / While the Sonar Sensor readings