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LibbysCodePage

Code that I have written for the create resides on this page, so far there are a few working (more or less) pieces of code here

• Wall Following Code
• Line Following Code

Wall Following Code

// Include the Command Module API
#include "create.h"

// Pointer to the cr8_t struct
cr8_t *cr8;

// Main function
int main(void)
{
  cr8 = cr8_alloc();
  // Initialize the Create and Command Module
  cr8_init(cr8);

  //Update cr8
  cr8_update(cr8);

  while(1)
  {
    cr8_set_leds(0,1,0,0);  


	// Drive forward without hitting wall
	while (cr8->wall_range < 120 && cr8->wall_range > 4)
	{
        cr8_set_leds(1,1,0,0);

		// Set the linear and angular speed of the Create to 200mm/s linear and 0 mr/s angular.
		cr8_set_speed(200, 0);

		//Update again
		cr8_update(cr8);

		cr8_delay(15);	
	}

	if (cr8->wall_range < 4)
		{
		   cr8_set_speed(0,0);  //stop
		   cr8_set_leds(0,0,0,0);
		   // cr8_beep_short();          //beep and

			cr8_set_speed(50, -70);  //turn right if wall seems too far away


		}	

   	else if (cr8->wall_range > 120)
		{
		    cr8_set_leds(1,0,0,0);
			//cr8_beep_long(); 			//beep and

			cr8_set_speed(60, 70);  //turn left if wall seems too close


		}

	cr8_update(cr8);
  	cr8_delay(50);
	cr8_set_speed(0,0);
	//cr8_beep_short();
  }

  cr8_free(cr8);

  return 0;
}

Line Following Code

// Include the Command Module API
#include "create.h"

// Pointer to the cr8_t struct
cr8_t *cr8;

/* Exercise function for initialization
int exerciseInit(void);

//Exercise function for updating
int exerciseUpdate(void); */

// Initialize function called after the create has been initialized and
// before the update cycle begins.
// Return a value of zero to continue, and any other value to stop.
int Init(void)
{
  return 0; // exerciseInit();
}

// Update function called once every iteration.
// Return a value of zero to continue, and any other value to stop.
/* int Update(void)
{
  cr8_update(cr8);

  return exerciseUpdate();
} */

// Main function
int main(void)
{
  int stop = 0;

  // Allocate the cr8_t structure
  cr8 = cr8_alloc();

  // Initialize the Create and Command Module
  cr8_init(cr8);

  // User initialization
  if (Init())
  {
    return -1;
  }

  //cr8_set_speed(0,10);

  // Update loop
  while (stop == 0)
  {
    // Update call
    // stop = Update();
	cr8_update(cr8);
    cr8_delay(15);

	// BEGIN NEW CODE

	// Power LED is green 
	cr8_set_leds(0,0,0,255);

	// turns Power LED orange and drives at 200 as long as all of the cliff sensors measure greater than 600.
	if ((cr8->cliff_frontleft_range>600) && (cr8->cliff_frontright_range>600) &&
		(cr8->cliff_left_range>600) && (cr8->cliff_right_range>600))
	{
		cr8_set_leds(0,0,127,255);
		cr8_set_wheels(200,200);


	} else if ((cr8->cliff_frontright_range<600) || (cr8->cliff_right_range<600)){
		//stop = 1;
		cr8_set_speed(0,0);
		cr8_set_speed(60, 200);

	}

	else {
	   cr8_set_speed(0,0);
	   cr8_set_speed(60, -200);

	}

	// END NEW CODE

  }

	// NEW CODE - beeps and turns Power LED red once it detects sensor
	cr8_beep_long();
	cr8_set_leds(0,0,255,255);
	// END NEW CODE

  // Stop the create from moving
  cr8_set_speed(0,0);

  cr8_free(cr8);

  return 0;
}