Dear Apek,
Please submit a bug report at http://www.cyberbotics.com/bug and
describe precisely what you mean by "the screen turns all distorted".
Best regards,
-Olivier
On 10/11/10 3:19 AM, Apek Cheeky wrote:
> Hi,
>
> My code here seems to be working but the ground sensor area still does
> not seem to be following the line. Can anybody help? I'm using webots.
> I tried doing simulation but the screen turns all distorted so i'm not
> able to see what its doing.
>
>
> #include <webots/robot.h>
> #include <webots/differential_wheels.h>
> #include <webots/camera.h>
> #include <math.h>
> #include <stdlib.h>
> #include <stdio.h>
> #include <webots/led.h>
> #include <string.h>
> #include <time.h>
> #include <webots/distance_sensor.h>
>
> #define TIME_STEP_CAM 64
> #define TIME_STEP 64
> #define TRUE 1
> #define FALSE 0
> #define LEFT 0
> #define RIGHT 1
> #define WHITE 0
> #define BLACK 1
>
> #define NB_LEDS 10
> #define NB_DIST_SENS 8
> #define PS_RIGHT_10 0
> #define PS_RIGHT_45 1
> #define PS_RIGHT_90 2
> #define PS_RIGHT_REAR 3
> #define PS_LEFT_REAR 4
> #define PS_LEFT_90 5
> #define PS_LEFT_45 6
> #define PS_LEFT_10 7
> #define NB_FLOOR_SENS 3
> #define FS_WHITE 900
> #define FS_LEFT 0
> #define FS_CENTER 1
> #define FS_RIGHT 2
> WbDeviceTag cam;
> WbDeviceTag ps[NB_DIST_SENS];
> WbDeviceTag fs[NB_FLOOR_SENS];
> WbDeviceTag led[NB_LEDS];
>
>
> int speed[2]={0,0};
> int ps_value[NB_DIST_SENS]={0,0,0,0,0,0,0,0};
> const int PS_OFFSET_REALITY[NB_DIST_SENS] =
> {480,170,320,500,600,680,210,640};
> unsigned short fs_value[NB_FLOOR_SENS]={0,0,0};
> unsigned short width,height;
> int i;
> int shapesize=0;
> int delay=0;
> int shapechecking,whitechecking;
> int Itriangle,square,triangle;
> int stop=0;
>
> void Sensor_check()
> {
> for(i=0;i<NB_FLOOR_SENS;i++)
> {
> fs_value[i]=(int)wb_distance_sensor_get_value(fs[i]);
> }
> for(i=0;i<NB_DIST_SENS;i++)
> {
> ps_value[i]=(int)wb_distance_sensor_get_value(ps[i]);
> }
> }
> void UTurn()
> {
> while((int)fs_value[0]>330)
> {
> speed[RIGHT]=400;//rotate right
> speed[LEFT]=-400;
> wb_differential_wheels_set_speed(speed[LEFT],speed[RIGHT]);
> Sensor_check();
> }
> }
> void Offled()
> {
> for(i=0;i<9;i++)
> {
> wb_led_set(led[i],FALSE);
> }
> }
>
> void MoveObstacle()
> {
> Sensor_check();
>
> while ((int)ps_value[0]<2000&&(int)ps_value[7]<2000)
> {
> Sensor_check();
> speed[RIGHT]=300;
> speed[LEFT]=300;
> wb_differential_wheels_set_speed(speed[LEFT],speed[RIGHT]);
> }
>
> delay=10000;
>
> while (delay!=0)
> {
> wb_led_set(led[0],TRUE);
> wb_led_set(led[7],TRUE);
> wb_led_set(led[6],TRUE);
> speed[RIGHT]=450;
> speed[LEFT]=-450;
> wb_differential_wheels_set_speed(speed[LEFT],speed[RIGHT]);
> delay--;
> }
>
> Offled();
>
> delay=12000;
> while (delay!=0)
> {
> wb_led_set(led[0],TRUE);
> wb_led_set(led[8],TRUE);
> speed[RIGHT]=650;
> speed[LEFT]=650;
> wb_differential_wheels_set_speed(speed[LEFT],speed[RIGHT]);
> delay--;
> }
>
> Offled();
>
> delay=12000;
> while (delay!=0)
> {
> wb_led_set(led[5],TRUE);
> wb_led_set(led[4],TRUE);
> speed[RIGHT]=-650;
> speed[LEFT]=-650;
> wb_differential_wheels_set_speed(speed[LEFT],speed[RIGHT]);
> delay--;
>
> }
>
> Offled();
> wb_led_set(led[0],TRUE);
> wb_led_set(led[1],TRUE);
> wb_led_set(led[2],TRUE);
> speed[RIGHT]=-300;
> speed[LEFT]=-300;
> wb_differential_wheels_set_speed(speed[LEFT],speed[RIGHT]);
> }
>
> void black_line()
> {
>
> Sensor_check();
> if((int)fs_value[2]>330)
> {
> speed[RIGHT]=-180;//rotate right
> speed[LEFT]=100;
> wb_differential_wheels_set_speed(speed[LEFT],speed[RIGHT]);
> }
> else if((int)fs_value[0]>330)
> {
> speed[RIGHT]=100;// rotate left
> speed[LEFT]=-180;
> wb_differential_wheels_set_speed(speed[LEFT],speed[RIGHT]);
> }
> else if((int)fs_value[1]>330)
> {
> speed[RIGHT]=400;// forward
> speed[LEFT]=400;
> wb_differential_wheels_set_speed(speed[LEFT],speed[RIGHT]);
> }
>
> }
> void movewall()
> {
>
> speed[RIGHT]=400;
> speed[LEFT]=400;
> wb_differential_wheels_set_speed(speed[LEFT],speed[RIGHT]);
>
> Sensor_check();
> while((int)ps_value[0]>200 || (int)ps_value[7]>200)
> {
> Sensor_check();
> black_line();
> }
>
>
> }
>
> void shape()
> {
> if(shapesize==0)
> {
> shapesize=shapechecking;
> }
> else if(shapesize<shapechecking&&whitechecking>3)
> {
> triangle++;
> }
> else if(shapesize>shapechecking&&whitechecking>3)
> {
> Itriangle++;
> }
> else if(shapesize==shapechecking&&whitechecking>3)
> {
> square++;
> }
> shapesize=shapechecking;
>
> }
> void shapecompare()
> {
> if(triangle>square&&triangle>Itriangle)//triangle
> {
> movewall();
> }
> else if(triangle<square&&square>Itriangle)//square
> {
> MoveObstacle();
> }
> else if(Itriangle>triangle&&square<Itriangle)// Itriangle
> {
> UTurn();
> }
>
> Offled();
> triangle=0;
> square=0;
> Itriangle=0;
> shapesize=0;
> whitechecking=0;
> }
>
> void CheckCamera()
> {
> int reg1,x,y;
> const unsigned char *image;
> cam = wb_robot_get_device("camera");
> wb_camera_enable(cam,TIME_STEP_CAM);
> width = wb_camera_get_width(cam);
> height = wb_camera_get_height(cam);
> image = wb_camera_get_image(cam);
>
> for (y=38;y>0;y--)
> {
> for (x=0;x<width;x++)
> {
> reg1 = wb_camera_image_get_red(image,width,x,y);
> if (reg1<50)
> {
> shapechecking=x;
> whitechecking=x-1;
> shape();
> y--;
> x=0;
> }
> }
> }
> }
>
>
> int main()
> {
> wb_robot_init();
> char light[]="led0";
> for(i=0;i<NB_LEDS;i++)
> {
> led[i]=wb_robot_get_device(light);
> light[3]++;
> }
>
> char named[]="fs0";
> for (i = 0; i < NB_FLOOR_SENS; i++)
> {
>
> fs[i] = wb_robot_get_device(named); /* floor sensors */
> wb_distance_sensor_enable(fs[i],TIME_STEP);
> named[2]++;
> }
>
> char textPS[]="ps0";
> for(i=0;i<NB_DIST_SENS;i++)
> {
> ps[i]=wb_robot_get_device(textPS);
> wb_distance_sensor_enable(ps[i],TIME_STEP);
> textPS[2]++;
> }
>
> //main loop
> while(stop==0)
> {
>
> Sensor_check();
>
> if((int)ps_value[0]>200||(int)ps_value[7]>200)
> {
> speed[RIGHT]=0;
> speed[LEFT]=0;
> wb_differential_wheels_set_speed(speed[LEFT],speed[RIGHT]);
> CheckCamera();
> shapecompare();
> }
> else
> {
> black_line();
> }
> }
> /* Enter here exit cleanup code */
>
> /* Necessary to cleanup webots stuff */
> wb_robot_cleanup();
>
> return 0;
> }
>
>
>
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