const int thresh = 50; // light sensor thresh
const int power = 40; // motor power
const int factor = 2; // multiplicative sweep increase
const int overshoot = 20; // turn additional after line found
const int initialTurn = 8; // first sweep size
int spin_left(int deg) {
nSyncedTurnRatio = -100;
nMotorEncoderTarget[motorA] = deg;
motor[motorA] = power;
}
int spin_right(int deg) {
nSyncedTurnRatio = -100;
nMotorEncoderTarget[motorA] = -deg;
motor[motorA] = -power;
}
int straight() {
nSyncedTurnRatio = +100;
motor[motorA] = power;
}
void stop() {
motor[motorA] = 0;
}
bool online() {
return SensorValue(lightSensor) < thresh;
}
void resetMotorEncoder() {
nMotorEncoder[motorA] = 0;
}
bool stateIdle() {
return nMotorRunState[motorA] == runStateIdle;
}
task main()
{
bFloatDuringInactiveMotorPWM = false;
nSyncedMotors = synchAB;
int lastDir = 0;
while (true) {
while ( online() ) { straight(); }
stop();
resetMotorEncoder();
int turn = initialTurn;
for ( int i = lastDir; !online(); i++ ) {
lastDir = i%2;
for ( int j = turn; j && !online() ; j-- ) {
if ( lastDir ) { spin_left(1); }
else { spin_right(1); }
}
turn *= factor;
}
if ( lastDir ) { spin_left(overshoot); }
else { spin_right(overshoot); }
while ( !stateIdle() ) { wait1Msec(1); }
}
}
Wednesday, January 16, 2008
NXT Line Follower (via RobotC)
This time via RobotC (http://www.robotc.net)
Tuesday, January 15, 2008
transcoding for IPod Touch
$ ffmpeg.exe -y -i INPUT -f mp4 -vcodec libx264 -level 21 -s 480x266 -b 768k -bt 768k -bufsize 2000k -maxrate 768k -g 250 -coder 0 -threads auto -acodec libfaac -ac 2 -ab 128k OUTPUT
I think I used higher audio bitrate. Had to back it off to transcode video off my Olympus camera.
Monday, January 14, 2008
NXT Line Follower
Programmed with the NXT-G (LabView).
Cribbed from http://www.bnxt.com/paper/line_follower
NXT Marble Lift
Trying to figure out the Mindstorms / NXT. Simple robot to save Daniella and I from having to manually move the marbles to the top of the marble run set.
Saturday, January 20, 2007
Friday, January 19, 2007
Sea horses and sea dragons
Tonight seahorses came up while we were playing with play dough. Some google videos of said, and something I had never heard of: sea dragon.
Sea Dragons
Sea Dragons
Thursday, January 18, 2007
Cheetahs
Dani has a set of plastic jungle animals and I was telling her about the cheetah being the fastest animal in the world.
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