View difference between Paste ID: D3nPrFkc and ndGh39cQ

-# Ping Object Avoidance
+# Autonomous roaming
 # Using Ultra Sonic Ping Sensor on servo for avoidance
-# Version 1.1.2
+# Version 1.2.0
 # Last Updated: 23-07-2013
 # Author: Rich Pyke
-# Configuration Settings
+# Language: EZ-Script 2013.07.22 or later
 # www.EZ-Robot.com
-#
+
 
 # ------- Configuration Settings -------
 # This script assumes the following ports;
 # Trig Port = D0
 # Echo Port = D1
-$reverseturn = 1 # Reverse before turn? 0 = no, 1 = yes
+
 
 # Adjust values below for movement control
 $maxdistance = 30 # Change for maximum distance from object before avoiding in units
 $boxedindistance = 20 # Change for maximum distance for boxed in detection
 $turnamount = 500 # Change for how long to turn for in ms
 $reverseamount = 500 # Change for how long to reverse for in ms (if applicable)
 $movementspeed = 255 # Change for movement speed
 $slowturn = 127 # Change for slow turn speed
 
 # Adjust values below for sweep configuration
 $sweepmin = 10 # Change for min limit
 $sweepmax = 90 # Change for max limit
-# Testing Options
+#sweepcenter automatically calculated
-$testmode = 0 # Change to 1 if testing without PING sensor
+
 
 
 # ------- Do not adjust these values -------
-# Do not adjust these values
+
 # Minimum position plus maximum position divided by 2 then round to 0 decimal places
-# Minimum position plus maximum position divided by 2
+
-# Round to 0 decimal places
+
 # Set the previous position to the max position for initial movement
 $sweepprevious = $sweepmax # Do not change
 
 # Set the current position to the centre position for initial movement
 $sweepcurrent = $sweepcenter # Do not change
-# Set some flags for testing - to be removed in final release
+
-$SweepErrorFlag = 0 # Do not change
+# Clear flag for IsBoxedIn
-$BoxedInErrorFlag = 0 # Do not change
+
-$BoxedInRun = 0 # Do not change
+
-$SweepCenterRun = 0 # Do not change
+
-$EscapeRun = 0 # Do not change
+
-$ScriptErrorFlag = 0 # Do not change
+
 
 
 
 # ------- The Script --------
 
 # Set the start point for any loops
 :begin
 
 # Set the sweep servo speed
 ServoSpeed(D2, 0)
 
 # Center the sweep servo
 Servo(D2, $sweepcenter)
 
 # Start moving forwards
 FORWARD()
 
 
 # Start the detection
-Goto(detect) # This line is redundant but left for educational purposes
+
 # ------- Detection code -------
 # Set a label for loops and gotos
 :detect
-# Detection code
+
 # Get distance
 $currentdistance = GetPing(D0, D1)
 
 # Check the current distance against the max allowed distance
-# Use random numbers if in test mode - to be removed in final release
+
-IF ($testmode=0)
+
-  $currentdistance = GetPing(D0, D1)
+
   GOTO(avoid)
-  $currentdistance = GetRandom(0,255)
+
   # Set label for avoid return to avoid return errors
   :avoidreturn
-  # Check the current distance against the max allowed distance
+
 
 # Run the sweeping servo code
 GOTO(sweep)
 
 # Wait
 SLEEP ($sweepservodelay)
 
 # Loop back to the start of detection
 GOTO(detect)
 
 
 
 # ------- Avoidance code -------
 # Set a label for loops and gotos
 :avoid
 
 # First check if boxed in
 Goto(boxedin)
 
-# Avoidance code
+# If the robot is boxed in
 IF ($isboxedin = 1)
 
   # Run the escape code
   Goto(escape)
 
   # Avoid return error after escape loop by setting a label for a goto
   :escapereturn
-# If the robot is boxed in run the escape code
+
 # Otherwise just stop reverse and turn
 ELSE
 
   # Stop and sleep before movement
   Stop()
   Sleep(200)
-# Change to else to avoid reversing and turning after an escape - dont forget the endif at the bottom
+
   # Reverse away
   Reverse($movementspeed,$reverseamount)
-  # Check to see if to reverse before turning
+
-  IF ($reverseturn = 1)
+
-    # If the option of reverse before turning is set stop then reverse
+
-    # Add in a stop and sleep before movement
+
   IF ($sweepcurrent = $sweepmin)
 
-    Reverse($movementspeed,$reverseamount)
+
     Goto(moveright)
 
     # Stop and sleep before movement
     Stop()
     Sleep(200)
 
     # Move forwards
     FORWARD()
-    # Continue moving forwards
+
-    # Add in a stop and sleep before movement
+
   ELSEIF ($sweepcurrent = $sweepmax)
 
     # If the servo is in the highest position (right) move left
     Goto(moveleft)
 
     # Stop and sleep before movement
     Stop()
     Sleep(200)
-    # Continue moving forwards
+
-    # Add in a stop and sleep before movement
+    # Move forwards
     FORWARD()
 
   # Else assume it's in the middle
   ELSE
     # If the servo is in the center position check which side is closest to the object and move the other way
 
     # Move and check the left side
     Servo(D2,$sweepmin)
 
     # Get distance
-    # Use random numbers if in test mode
+    $pingmin = GetPing(D0, D1)
-    IF ($testmode=0)
+
-      $pingmin = GetPing(D0, D1)
+
     Sleep(400)
-      $pingmin = GetRandom(0,255)
+
     # Move and check the right side
     Servo(D2,$sweepmax)
 
     # Get distance
     $pingmax = GetPing(D0, D1)
 
     # Wait
-    # Use random numbers if in test mode
+
-    IF ($testmode=0)
+
-      $pingmax = GetPing(D0, D1)
+
     Servo(D2,$sweepcenter)
-      $pingmax = GetRandom(0,255)
+
     # Check distances for left and right movement
     IF ($pingmin > $pingmax)
 
       # If left side is closer move right
       Goto(moveright)
 
       # Stop and sleep before movement
       Stop()
       Sleep(200)
-      # Add in a stop and sleep before movement
+
       # Move forwards
       FORWARD()
 
     # Otherwise right side is closer
     ELSE
-      # Add in a stop and sleep before movement
+      # So move left
       Goto(moveleft)
 
       # Stop and sleep before movement
       Stop()
       Sleep(200)
 
       # Move forwards
       FORWARD()
     ENDIF
   ENDIF
 ENDIF
 
-# The sweep code
+
 Goto(avoidreturn)
 
 
 
 # ------- The sweep code -------
 
 # Set a label for loops and gotos
 :sweep
 
 # Move in the correct direction and store previous position
 
 # Check what the current position is
 # Check if left
 IF ($sweepcurrent = $sweepmin)
 
   # Save the current position as the previous
   $sweepprevious = $sweepcurrent
 
   # Move to the next position
   Servo(D2, $sweepcenter)
 
   # Save the current position
   $sweepcurrent = GetServo(D2)
 
 # Else check if its center and where it was before
 # If it is center and was left before
 ELSEIF ($sweepcurrent = $sweepcenter and $sweepprevious = $sweepmin)
 
   # Save the current position as the previous
   $sweepprevious = $sweepcurrent
 
   # Move to the next position
   Servo(D2, $sweepmax)
 
   # Save the current position
   $sweepcurrent = GetServo(D2)
 
 # If it is center and was right before
 ELSEIF ($sweepcurrent = $sweepcenter and $sweepprevious = $sweepmax)
 
   # Save the current position as the previous
   $sweepprevious = $sweepcurrent
 
   # Move to the next position
   Servo(D2, $sweepmin)
 
   # Save the current position
   $sweepcurrent = GetServo(D2)
 
 # Else check if right
 ELSEIF ($sweepcurrent = $sweepmax)
 
   # Save the current position as the previous
   $sweepprevious = $sweepcurrent
 
   # Move to the next position
-# Else something has gone wrong
+
 
-  # Set an error flag for debugging purposes - to be removed for final release
+
-  $SweepErrorFlag = 1
+
 
 ENDIF
 
 # Return back to the main script
 Return()
 
 
-# The sweep center code
+
 # ------- The sweep center code -------
 
 # Set a label for loops and gotos
 :sweepcenter
-# Set a flag so we know it has run for debugging purposes
+
-$SweepCenterRun = 1
+
 Servo(D2,$sweepmin)
 
 # Get distance
 $pingmin = GetPing(D0, D1)
-# Use random numbers if in test mode
+
-IF ($testmode=0)
+
-  $pingmin = GetPing(D0, D1)
+
 
-  $pingmin = GetRandom(0,255)
+
 Servo(D2,$sweepmax)
 
 # Get distance
 $pingmax = GetPing(D0, D1)
 
 # Wait
 Sleep(200)
 
-# Use random numbers if in test mode
+
-IF ($testmode=0)
+
-  $pingmax = GetPing(D0, D1)
+
 # Check which side has the closest object
-  $pingmax = GetRandom(0,255)
+
 IF ($pingmin > $pingmax)
 
   # Move to the right
   RIGHT($movementspeed,$turnamount)
 
   # Move forwards again
   # Add in a stop and sleep before movement
   Stop()
   Sleep(200)
   FORWARD()
 
 # Else if the object to the right is further away than the object to the left
 ELSEIF ($pingmin < $pingmax)
 
   # Move to the left
   LEFT($movementspeed,$turnamount)
 
   # Move forwards again
   # Add in a stop and sleep before movement
   Stop()
   Sleep(200)
   FORWARD()
 
 # Else they are both the same
 ELSE
 
   # So move left - this can be customised
   LEFT($movementspeed,$turnamount)
 
   # And move forwards again
   # Add in a stop and sleep before movement
   Stop()
   Sleep(200)
   FORWARD()
 ENDIF
 
 # Return to the main code
 Return()
 
 
 
 # ------- The boxed in code -------
 
 # Set a label for loops and gotos
 :boxedin
 
 # Get distance to the side
 # Move the servo to the left
 Servo(D2,$sweepmin)
 
 # Get distance
-# The boxed in code
+
 
 # Get distance to the other side
 # Move the servo to the right
 Servo(D2,$sweepmax)
-# Set a flag so we know it has run for debugging - to be removed for final release
+
-$BoxedInRun = 1
+# Get distance
 $side2scan = GetPing(D0, D1)
 
 # Get distance to the front
 # Move the servo to the center
 Servo(D2,$sweepcenter)
-# Use random numbers if in test mode - to be removed for final release
+
-IF ($testmode=0)
+# Get distance
 $centerscan = GetPing(D0, D1)
 
-  $side1scan = GetRandom(0,255)
+
 IF ($side1scan < $boxedindistance and $side2scan < $boxedindistance and $centerscan < $boxedindistance)
 
   # If any are true set the boxed in flag
   $isboxedin = 1
 
 ENDIF
-# Use random numbers if in test mode
+
-IF ($testmode=0)
+
-  $side2scan = GetPing(D0, D1)
+
 
-  $side2scan = GetRandom(0,255)
+
 
 # ------- The escape code -------
 
 # Set a label for loops and gotos
 :escape
 
-# Use random numbers if in test mode
+
-IF ($testmode=0)
+
-  $centerscan = GetPing(D0, D1)
+
 # Center the sweep servo
-  $centerscan = GetRandom(0,255)
+
 
 # Turn slowly
 Left($slowturn)
 
 # Set up a loop
 :escapeloop
 
 # Scan until clear
 # Get distance
 $escapescan = GetPing(D0, D1)
 
 # If the scan result is below the boxed in distance loop
 IF ($escapescan < $BoxedInDistance)
 
   # Go back to the start of the escape loop
-# The escape code
+
 
 ENDIF
 
 # Once clear stop and sleep before movement
-# Set a flag so we know it has run for debugging
+
-$EscapeRun = 1
+
 
 # Move forwards
 FORWARD()
 
 # Return to the main script
 Goto(escapereturn)
 
 
 
 # ------- Move Right code -------
 
 # Set a label for loops and gotos
 :moveright
 
-# Use random numbers if in test mode
+
-IF ($testmode=0)
+
-  $escapescan = GetPing(D0, D1)
+
   # If it has been right then left dont move right again but escape from a loop
-  $escapescan = GetRandom(0,255)
+
 
   # Reset the last move
   $lastmove = "none"
 
   # Else just move right
 ELSE
   RIGHT($movementspeed,$turnamount)
   Sleep(200)
 
   # Save the penultimate move
-# Continue forwards
+
-# Add in a stop and sleep before movement
+
   # Save the last move
   $lastmove = "right"
 
 ENDIF
 
 # Go back to the main script
 Return()
 
 
-# Move Right code
+
 # ------- Move left code -------
 
 # Set a label for loops and gotos
 :moveleft
 
 # Check the last 2 moves to avoid left right left right loops
 IF ($lastmove = "right" and $penultimatemove = "left")
 
   # If it has been left then right dont move left afain but escape from a loop
   Goto(escape)
 
   # Reset the last move
   $lastmove = "none"
 
   # Else just move left
 ELSE
   LEFT($movementspeed,$turnamount)
   Sleep(200)
 
   # Save the penultimate move
   $penultimatemove = $lastmove
 
   # Save the last move
   $lastmove= "left"
 
 ENDIF
 
 # Go back to the main script
 Return()
 
 # ------- End of scripts -------