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Distance télémetre
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| // On cherche à qualifier la précision du télémètre. | |
| // Des marques bleues sont disposées sur la piste à intervale régulier. | |
| // Le robot mesure la distance entre son point de départ et chacune des marques bleues rencontrées. | |
| #define Telemetre IN_3 | |
| #define Couleur IN_2 | |
| #define Touch IN_4 | |
| #define motors OUT_BC | |
| int distance = 0; | |
| int distance_precedente = 0; | |
| byte data_file; // global pour simplifier | |
| void setup(){ | |
| SetSensorLowspeed(Telemetre); | |
| SetSensorColorFull(Couleur); | |
| SetSensorTouch(Touch); | |
| DeleteFile("data.txt"); | |
| CreateFile("data.txt", 1024, data_file); | |
| } | |
| void add_to_file(){ | |
| int bytesWritten = 0; // inutilisé mais requis par WriteLnString | |
| string inter = NumToStr(distance); | |
| WriteLnString(data_file, inter, bytesWritten); | |
| } | |
| task BlueTick(){ | |
| while(true){ | |
| until(Sensor(Couleur) == INPUT_BLUECOLOR); | |
| distance = SensorUS(Telemetre); | |
| // Sécurité pour éviter les doubles mesures | |
| if ((distance-distance_precedente) > 3) { | |
| add_to_file(); | |
| distance_precedente = distance; | |
| } | |
| } | |
| } | |
| task main(){ | |
| setup(); | |
| // --- On étalonne la mesure (prise d'origine) --- | |
| distance = SensorUS(Telemetre); | |
| distance_precedente = distance; | |
| // --------- | |
| StartTask(BlueTick); | |
| OnRev(motors, 50); | |
| until(Sensor(Touch)); | |
| CloseFile(data_file); | |
| StopAllTasks(); | |
| } |
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