s.l.a.m robot coding help, please

[mohdhidayat]

slam robot

hi guys. i am currently doing my final year project which is s.l.a.m robot. using ultrasonic sensor and i want to ask something on sensor unit. i am having some problems with sensor coding. the question is can i use switch...case looping to make the sensor move the robot, it is because when using if else the robot can move properly. hopefully someone can help me.

 

[the_merovingian]

slam with ultrasonic

Some clarification required in order for us to help:

- Which ultrasonic "sensor unit" are you using?

- You can certain use a switch-case statement (from a software engineering logic perspective) to decide what the robot should do when an external sensor is triggered (rather than using interrupts for example) - can you post an example of the code that you're having difficulty with?

 

[mohdhidayat]

slam robots

hi mate, sorry got many work to do, here i post the coding. maybe it easy for me to do if...else looping.

void ultrasonic(void)
{
int distance;
// variable for distance measuring
char n=1;
// index for indicat mode
while(1)
// loop forever
{
read_adc(CHANNEL0);
distance = result;
if (distance >40)
// check if distance more than 40
{
forward();
SPEEDL = 250;
SPEEDR = 250;
}
else if (distance >30)
{
forward();
SPEEDL = 240;
SPEEDR = 240;
}
else if (distance >20)
{
stop();
delay(1000);
left();
}
// then stop
else
// else, distance less than 20
{
backward();
// then backward with medium speed and on the buzzer
SPEEDL = 250;
SPEEDR = 250;
}
}

while(1)
{
read_adc(CHANNEL1);
distance1 = result;
if (distance >40)
// check if distance more than 40
{
left();
SPEEDL = 200;
SPEEDR = 100;
}
else if (distance >30)
{
left();
SPEEDL = 150;
SPEEDR = 80;
}
else if (distance >20)
{
stop();
delay(1000);
right();
}

}

while(1)
{
read_adc(CHANNEL2);
distance2 = result;
if (distance >40)
// check if distance more than 40
{
right();
SPEEDL = 100;
SPEEDR = 200;
}
else if (distance >30)
{
right();
SPEEDL = 80;
SPEEDR = 150;
}
else if (distance >20)
{
stop();
delay(1000);

}

}
}

so can i do like this, guide me please

 

[mohdhidayat]

slam robotics

static void interrupt isr(void)
{
if (TMR0IF) // TMR0 is overflow
{
TMR0IF = 0; // clear flag bit
To +=0x100; // count number of
TMR0 overflow ( make it to 16bit TMR)
}
if(RBIF) // there is change bit
on RB4-RB7
{
RBIF = 0; //
____
if (RB4) // Rb4 is 1 mean is
rising form 0 __|
{
TMR0 = 0; // clear all counter
involved, start new count for period of RB4 high
To = 0;
}
//
___
else TH = TMR0 + To; // RB4 is 0 mean is falling form 1
|_____ // save TH, RB4 high period
}
if(RCIF)
{
RCIF = 0; // clear flag bit
if (RCREG == 'R') data[i=0]= RCREG; // check if start byte
'R' is met
else if (RCREG == 100) data[i=0]= RCREG; // check if start byte
'd'(decimal 100) is met
if ((data[0] == 'R'))data [i++] = RCREG; // save the data in data
array
if (i>4) i = 4;
// if the data array reached max, set the index to 4
}
}

can someone explain to me why this is happen. as i know, my senior said that the interupt coding is all right. i'm using mplab and hitech compiler doing this project. could someone help me


here is the error

Error   [195] G:\Documents and Settings\admin\Desktop\test.c; 59.6 expression syntax
Error   [222] G:\Documents and Settings\admin\Desktop\test.c; 59.28 binary digit expected
Error   [312] G:\Documents and Settings\admin\Desktop\test.c; 60.1 ";" expected
Error   [192] G:\Documents and Settings\admin\Desktop\test.c; 62.1 undefined identifier "on"
Error   [195] G:\Documents and Settings\admin\Desktop\test.c; 62.4 expression syntax
Error   [192] G:\Documents and Settings\admin\Desktop\test.c; 66.0 undefined identifier "____"
Error   [312] G:\Documents and Settings\admin\Desktop\test.c; 66.1 ";" expected
Error   [192] G:\Documents and Settings\admin\Desktop\test.c; 70.1 undefined identifier "involved"
Error   [192] G:\Documents and Settings\admin\Desktop\test.c; 70.11 undefined identifier "start"
Error   [195] G:\Documents and Settings\admin\Desktop\test.c; 70.17 expression syntax
Warning [374] G:\Documents and Settings\admin\Desktop\test.c; 75.1 missing basic type; int assumed
Error   [314] G:\Documents and Settings\admin\Desktop\test.c; 75.1 ";" expected
Error   [285] G:\Documents and Settings\admin\Desktop\test.c; 76.1 no identifier in declaration
Warning [374] G:\Documents and Settings\admin\Desktop\test.c; 76.1 missing basic type; int assumed
Error   [314] G:\Documents and Settings\admin\Desktop\test.c; 76.1 ";" expected
Error   [285] G:\Documents and Settings\admin\Desktop\test.c; 78.1 no identifier in declaration
Warning [374] G:\Documents and Settings\admin\Desktop\test.c; 78.1 missing basic type; int assumed
Error   [314] G:\Documents and Settings\admin\Desktop\test.c; 78.1 ";" expected
Error   [285] G:\Documents and Settings\admin\Desktop\test.c; 81.1 no identifier in declaration
Warning [374] G:\Documents and Settings\admin\Desktop\test.c; 81.1 missing basic type; int assumed
Error   [314] G:\Documents and Settings\admin\Desktop\test.c; 81.1 ";" expected
Error   [285] G:\Documents and Settings\admin\Desktop\test.c; 82.1 no identifier in declaration
Warning [374] G:\Documents and Settings\admin\Desktop\test.c; 82.1 missing basic type; int assumed
Error   [314] G:\Documents and Settings\admin\Desktop\test.c; 82.1 ";" expected
Error   [285] G:\Documents and Settings\admin\Desktop\test.c; 84.1 no identifier in declaration
Warning [374] G:\Documents and Settings\admin\Desktop\test.c; 84.1 missing basic type; int assumed
Error   [314] G:\Documents and Settings\admin\Desktop\test.c; 84.1 ";" expected
Advisory[1] too many errors (21)

thanks