Example 3: Drive Around Table

In this little demo, our bot drives a square on the floor around a well known table.

Clear and close
Constants
Open NXT connection
Initialize Motors...
Start the engines, main loop begins (repeated 4 times)
Drive
Check for the end end of table
Now please turn
Check for the end of rotation
Thats it. Repeat 4 times....
Close Bluetooth

Clear and close

clear all
close all

Constants

TableLength      = 2850; % in degrees of motor rotations :-)
QuarterTurnTicks = 245;  % in motor degrees, how much is a 90° turn of the bot?

Open NXT connection

handle = COM_OpenNXT('bluetooth.ini', 'check');
COM_SetDefaultNXT(handle);

Initialize Motors...

we send this in case they should still be spinning or something...

StopMotor('all', 'off');
% and we also "clean up" before we start:
ResetMotorAngle(MOTOR_B);
ResetMotorAngle(MOTOR_C);

Start the engines, main loop begins (repeated 4 times)

4 times because we got 4 equal sides of the table :-)

for j = 1 : 4

Drive

    SetMotor(MOTOR_B);
        SyncToMotor(MOTOR_C); % this means we have to set parameters only once
        SetPower(75);
        SetAngleLimit(TableLength);
        SetTurnRatio(0); % straight ahead
    SendMotorSettings(); % and GO!

    % let the robot start:
    pause(1);

Check for the end end of table

    WaitForMotor(GetMotor);

    % give it a little time to correct its mistakes (hey synchronisation
    % mode :-)
    pause(2);

    % apparently we've stopped!
    % then release the motors
    StopMotor('all', 'off');
    % if we don't do that, syncing again doesn't work

    % and again, if we don't rest relative counters, synced turning etc doesnt work...
    ResetMotorAngle(MOTOR_B);
    ResetMotorAngle(MOTOR_C);

Now please turn

    SetMotor(MOTOR_B);
        SyncToMotor(MOTOR_C); % this means we have to set parameters only once
        SetPower(30) % slower is more acurate
        SetAngleLimit(QuarterTurnTicks);
        SetTurnRatio(100) % turn right
    SendMotorSettings();  % and GO!

    % leave the bot time to start turning
    pause(1);

Check for the end of rotation

    WaitForMotor(GetMotor);

    % give it a little time to correct its mistakes (hey synchronisation mode :-)
    pause(2);

    % apparently we've stopped!
    % then release the motors
    StopMotor('all', 'off');
    % if we don't do that, syncing again doesn't work

    % and again, if we don't rest relative counters, synced turning etc doesnt work...
    ResetMotorAngle(MOTOR_B);
    ResetMotorAngle(MOTOR_C);

Thats it. Repeat 4 times....

end%for


% Hey! End of a hard day's work
% Just to show good style, we close down our motors again:
StopMotor('all', 'off');
% although this was completely unnecessary....

% nice

Close Bluetooth

COM_CloseNXT(handle);