Robotics I - Lab 1
Joseph Giardina

1. I worked with 2 sensors for this part of the lab
The first sensor I worked with was the Photosensor(analog).
The closer my hand was to the sensor the higher the number.
The further away my hand was, the lower the number.
The second sensor I worked with was the touch sensor (digital).
When it wasn't pressed it returned a 0, when it was it returned a 1.
The program I used was as follows:
	global [temp]
	to detect
	loop
	[
	settemp switcha //or for analog sensora
	if temp=0 [output 0]
	if temp=1 [output 1]
	]
	end

I also worked with the motor commands and wrote the following program:
	to motortest
	a, onfor 10
	wait 30
	beep
	motortest
	end


2. The commands for ir communication are as follows:
	ir - retrieves value
	newir? - waits for value to be received
	send - transmits value over infrared
	
	These are the two programs I used for communications between the two
	crickets:

	Cricket 1:
	to sender
	send random % 3
	beep
	wait 30
	sender
	end

	Cricket 2:
	to doit
	waituntil [newir?]
	if ir=0 [a, onfor 10]
	if ir=1 [beep]
	ir ir=2 [beep beep]
	doit
	end

	The random number generator seemed sporadic.  It seemed to generate
	the same mod number for 3-4 second spurts at a time.

3.	For this question I had no problem accomplishing the task.
	I made two programs because I only used two crickets.

	Cricket 1 - initially starts communication:

	to sender
	send 1
	a, onfor 10
	waituntil [newir?]
	if ir = 1 [beep]
	sender
	end
	
	Cricket 2 - initially waits for IR signal

	to doit
	waituntil [newir?]
	if ir = 1 [beep]
	send 1
	a, onfor 10
	doit
	end

	If there were more than two crickets, there would have to be
	a time delay after the send command so that there would be time to turn
	the cricketboard around so that the infrared communicators would be facing
	each other. Also, only one cricket's program would look like Cricket 1's
	program. All other programs would look like cricket 2's




4.  	I figured out that the array starts at index zero.
	My program is as follows:
	
	array [clicks 10]
	to blah
	aset clicks 0 0 //this was to make sure the value gets initialized
	db 0x000 1 //db 0x001 1 could have optionally been used to set low end bit
	send aget clicks 0 // send value to display center on computer
	wait 1000
	end

	The value returned when high-bit was set was 256
	The value returned when low-bit was set was 1

	This could only happen if the array starts at zero index.  This is
	because according to the way memory is set up, 0x000 is the high-byte
	of the first value in the array.
		

5.	Here is the program I put on the cricket to continually send data:
	to datasend
	loop [send sensora]
	end

	I used code from a previous semester's student for the basic port commands.
	The two programs are shown with the attached code.
	What I added was the display part of the code. It just uses simple printf
	statements.  
	This gave a horizontal bar reading that was designed with a photosensor
	 in mind.  The program prints out from 0 to 25 consecutive '-' characters depending 	on whether the light value (0 to 255)
	25 consecutive bars (e.g. "-------------------------") indicates max light
	15 consecutive bars (e.g. "---------------") indicates relatively average light
	5 consecutive bars (e.g. "-----") indicates relatively low light

	The general concept is that the more bars appear, the more light the
	photosensor "sees" and vice-versa.

	An example printout would be:

	------------------------ (at time 8) (photosensor getting max light)
	----------------------
	-------------------
	-------------
	---------
	-------
	-----
	--- (at time 1) (light almost all covered up initally)

	The photosensor is more and more exposed to light as time progresses
	in this example.