robot c ev3个人学习笔记，有要的可以看看。

humanxp · 发表于 2017-10-10 13:41:08

float batteryDrain = getBatteryCurrent();当前电池用电量吧

float batteryLife = getBatteryVoltage();还有多少电池水平。

float timeUntilDown = getPowerDownTimer();自动关机时间。

float pd=getPowerDownTimer();

displayBigTextLine(5,"powerdown=%0.1f",pd);

float batt=getBatteryVoltage();

float bat1=getBatteryCurrent():

displayBigTextLine(3,"%0.1f%0.1f",batt,bat1);显示数字。

setPowerDownTimer(5);设置自动关机时间。设好后下次一直就是这个时间了。

motor(motorA)=50;A口电机以功率50运行。

displayBigTextLine(3,"abc");第三行大字体靠左显示abc;

displayCenteredBigTextLine(2,"rrob");第二行大字体居中显示rrob

displayCenteredTextLine(3,"ROBOTC");第三行剧中显示标准字体

The x value is above 177.

The y value is above 127.

displayBigStringAt(0, 16, "A");以 x y 座标显示。从左下角为0，0；

clearPixel(50, 32);清除像素点信息。

for(inti=1;i<50;i++)

{

for(intj=1;j<50;j++)

{

clearPixel(i,j);

}

displayInverseBigStringAt(10, 20,"ROBOTC"); 像素点10，20黑底白字显示robotc.

displayString(3, "ROBOTC"); 第三行显示robotc

displayTextLine(3, "ROBOTC");第三行显示robotc

drawLine(10,10,167,10);

drawLine(10,10,10,117);

drawLine(10,117,167,117); 画个正方形。

drawLine(167,10,167,117);

drawRect(20, 107, 157, 20); 左上右下。画方形

drawEllipse(10, 40, 100, 15);左上右下。画圆形

eraseDisplay();清屏；

drawLine(10,10,167,117);

drawLine(10,117,167,10);画线。以坐标。

eraseLine(10,10,167,117); 擦除画的线。

eraseRect(20,107,157,20);把左上右下，内的信息都删了。

fillEllipse(30, 97, 147, 30);画实心圆。

fillRect(55, 97, 122, 30);画实心正方形。

invertPixel(5,10); 填实像素。

setPixel(x, y);画点。

setLEDColor(ledRed); 指示灯变红色。

setLEDColor(ledOrangeFlash)橙色一直闪。

setLEDColor(ledGreenPulse)绿色闪二下。节凑。

sleep(5000);

buttonNone: No button (0)

buttonUp: Up button (1)

buttonEnter: Enter button (2)

buttonDown: Down button (3)

buttonRight: Right button (4)

buttonLeft: Left button (5)

buttonBack: Back button (6)

buttonAny: Any button (7)

if(getButtonPress(LEFT_BUTTON)) 程序块上左边按键按下。是1 没有按是0；

{

setMotorSpeed(motorA,50); 设置A电机的速度50

}else

{

setMotorSpeed(motorA,-50); 设置A电机的速度为-50

}

getTouchValue(S1)==0 取S1 按压传管器。

setBlockBackButton(1); 程序块上的返回值不会退出程序。。0 可以退出。

waitForButtonPress(); 等街程序块上的任意按健，程序继续运行下去。

bFloatDuringInactiveMotorPWM = true; // the motors WILL coast when power is notapplied

bFloatDuringInactiveMotorPWM = false; // the motors will NOT coast when power isnot applied

getMotorBrakeMode(motorA)!= motorCoast 返回A电机不是滑行方式

getMotorBrakeMode(motorA)!= motorBrake 返回A电机不是制动方式

setMotorBrakeMode(motorA,motorCoast);设置A电机滑行方式，

setMotorBrakeMode(motorA,motorBrake);设置A电机制动方式。

setMotorSpeed(motorA,100);

sleep(5000);

setMotorSpeed(motorA,0);

sleep(50000);

重置A电机的度数为0

resetMotorEncoder(motorA);

设置a电机以50的功率，转1000度。

setMotorTarget(motorA, 1000, 50);

一直等电机转到设置的数度就结束。repeatUntil 是条件满足退出 while 是条件不满足退出。

repeatUntil(getMotorEncoder(motorA) ==getMotorTarget(motorA)) 取A电机转的角度，

{

}

resetMotorEncoder(motorA);

//resetMotorEncoder(motorD);

setMotorTarget(motorA,1000,50);

//setMotorTarget(motorD,-100,50);

while(getMotorTarget(motorA)!=getMotorEncoder(motorA)) ////repeatUntil(getMotorTarget(motorA)==getMotorEncoder(motorA))

{

eraseDisplay();

displayBigTextLine(2,"targe=%d",getMotorTarget(motorA));

displayBigTextLine(4,"encode=%d",getMotorEncoder(motorA));

sleep(50);

}

if(getMotorRPM(motorA)< 100) 返回A电机的每分钟运行多少圈。

{

//Increasethe value of speed

speed= speed + 1;

//Briefsleep period (2 milliseconds)

sleep(2);

}

//Thenapply the value of speed to the motors

//Thisshould cause the speed to 'ramp' up

setMotorSpeed(motorA,speed);

setMotorSpeed(motorD,speed);

displayBigTextLine(2,"%d",getMotorSpeed(motorA));返回电机功率。

displayBigTextLine(4,"%d",getMotorSpeed(motorD));

displayBigTextLine(6,"%d",getMotorRPM(motorA));

}

moveMotorTarget(motorA, 1000, 50);

//Keep looping until the motor stops moving

repeatUntil(getMotorMoving(motorA) ==0); 电机转到一定的角度就停止。

{

//Donothing (idle loop)

}

getMotorMoving(motorA) 电机是否在移动。

setMotorSpeed(motorA,50); getMotorSpeed(motorA);

moveMotorTarget(MotorA,1000,50); getMotorMoving(motorA)==0

getMotorRunning(motorA) == 0 电机是否在运行。

int speedA=getMotorSpeed(motorA); 整形。A电机功率。

moveMotorTarget(motorA,1000,100); 以100的功率向前转1000度。

waitUntilMotorStop(motorA);等待A电机停止。////好。

moveMotorTarget(motorA,1000,100);

waitUntilMotorStop(motorA);加了等电机a电机转好后在在继续向下运行。不加两个电机一起转。

moveMotorTarget(motorD,-1000,50);

waitUntilMotorStop(motorD);

//Setsthe Left Motor to the left side of the drive train

//Therobot should move forward for 1 rotation as expected

nMotorDriveSide[leftMotor]= driveLeft;

forward(1,rotation, 50);

//Setsthe Left Motor to the right side of the drive train

//Thiswill cause undesired behavior from the forward command

nMotorDriveSide[leftMotor]= driveRight;

forward(1,rotation, 50);

resetMotorEncoder(motorA);重置A电机角度为0。

setMotorBrakeMode(motorA, motorCoast);

//Set a motor target of 360 encoder counts

setMotorTarget(motorA, 360, 0);

//Wait until the motor has reached itstarget and stops

waitUntilMotorStop(motorA);

//Tell the program to sleep for 1000ms (1second)

//Check the encoder value in the debugger

sleep(1000);

//Resets the motor encoder to 0

resetMotorEncoder(motorA);

//The motor will now Brake(resistsmovement)

setMotorBrakeMode(motorA, motorBrake);

//Set a motor target of 360 encoder counts

setMotorTarget(motorA, 360, 0);

//Wait until the motor has reached itstarget and stops

waitUntilMotorStop(motorA);

//Tell the program to sleep for 1000ms (1second)

//Check the encoder value in the debugger

sleep(1000);

//Set motor to be reversed

setMotorReversed(motorA, true); 设置A电机反转为真。

//The motor runs counter-clockwise withpositive speeds (reversed)

setMotorSpeed(motorA, 50);

//Set motor to not be reversed

setMotorReversed(motorA, false); 设置电机反转为假。

//The motor runs clockwise with positivespeeds (normal)

setMotorSpeed(motorA, 50);

//Sets the speed value of motor motor portA to full forward (+100)

setMotorSpeed(motorA, 100); 设置电机功率100 的速度。

//Halt program flow for 1000ms (1 second)

sleep(1000);

//Sets the speed value of motor motor port Ato half-speed backwards (-50)

setMotorSpeed(motorA, -50);倒着电机速度。

//Halt program flow for 1000ms (1 second)

sleep(1000);

//Sets the speed value of motor motor port Ato stopped (0)

setMotorSpeed(motorA, 0);停止电机

//Halt program flow for 1000ms (1 second)

sleep(1000);

//Synchs left and right motor at 50 turnratio

//at power level 60 for 1 second

setMotorSync(leftMotor, rightMotor, 0, 60);

sleep(1000);

//Synchs left and right motor at 50 turnratio

//at power level 60 for 1 second

setMotorSync(leftMotor, rightMotor, 50,60);

sleep(1000);

//Synchs left and right motor at 50 turnratio

//at power level 60 for 1 second

setMotorSync(leftMotor, rightMotor, 100,60);

sleep(1000);

#pragma config(Sensor, S1, touchSensor, sensorEV3_Touch)

#pragma config(Sensor, S2, gyroSensor, sensorEV3_Gyro, modeEV3Gyro_RateAndAngle)

#pragma config(Sensor, S3, colorSensor, sensorEV3_Color, modeEV3Color_Color)

#pragma config(Sensor, S4, sonarSensor, sensorEV3_Ultrasonic)

#pragma config(Motor, motorA, armMotor,tmotorEV3_Large, PIDControl, encoder)

#pragma config(Motor, motorB, leftMotor,tmotorEV3_Large, PIDControl, driveLeft, encoder)

#pragma config(Motor, motorC, rightMotor,tmotorEV3_Large, PIDControl, driveRight, encoder)

//*!!Code automatically generated by'ROBOTC' configuration wizard !!*//

该 pragma 伪指令具有以下形式

task main()

{

//Sets the LeftMotor to the left side of the drive train

//Therobot should move forward for 1 rotation as expected

nMotorDriveSide[leftMotor]= driveLeft;

//Setsthe Left Motor to the right side of the drive train

//Thiswill cause undesired behavior from the forward command

nMotorDriveSide[leftMotor]= driveRight;

setMotorSync(leftMotor,rightMotor,0,60);双电机同步。 0直走。100掉头。

sleep(1000);

setMotorSync(leftMotor,rightMotor,50,60); 左电机右电机电机转向。功率。

sleep(1000);

}

setMotorSyncEncoder(leftMotor,rightMotor,0,360,50);双电机直行同步运行360度。以功率50

waitUntilMotorStop(leftMotor);一定要等电机停止后才可以运行下一步。

setMotorSyncEncoder(leftMotor,rightMotor,100,360,50);双电机掉头。360度，电机50功率

setMotorSyncEncoder(motorB,motorC,0,360,50); 同步电机也可以motorA motorB.

waitUntilMotorStop(leftMotor);等待电机停止后可以运行。

setMotorSyncEncoder(motorB,motorC,100,360,50);

waitUntilMotorStop(rightMotor);

setMotorSync(leftMotor,rightMotor,0,50);

sleep(2000);

setMotorSyncTime(motorB,motorC,0,1000,50); 同步电机BC 直行，1秒，功率50

waitUntilMotorStop(rightMotor);等待电机停止。

setMotorSyncTime(motorB,motorC,100,1000,50);同步电机BC掉头。1秒。功率50。

//Sets the motorA's target to 1000 encodercounts at a speed value of 50

setMotorTarget(motorA, 1000, 50);设置A电机转1000度功率50

moveMotorTarget(motorA,1000, 50);

//Holds program flow until the motor on motorport A comes to a complete stop.

waitUntilMotorStop(motorA);等电机停止后在继续运行。

Sensor

displayCenteredBigTextLine(3,"%d",getColorAmbient(S3)); 环境光。0到100。

displayCenteredBigTextLine(3,"%d",getColorReflected(S3)); 反射光。Short类型。

displayCenteredBigTextLine(3,"%d",getColorHue(S3));返回0。360的颜色。

getColorRGB(S3,r,g,b); 返回RGB三色。

displayCenteredBigTextLine(2,"R=%d",r);

displayCenteredBigTextLine(4,"G=%d",g);

displayCenteredBigTextLine(6,"B=%d",b);

displayCenteredBigTextLine(8,"Hue=%d",getColorHue(S3));

sleep(50);

int threshold = 50;

while(true)

{

//Ifthe color sensor senses the line (a dark value

//lowerthan the calculated threshold of 50):

if(getColorReflected(S3) < threshold)

{

setMotorSpeed(motorC, 50);

setMotorSpeed(motorB,0);

}

else

{

setMotorSpeed(motorC,0);

setMotorSpeed(motorB,50);

}

intco=0;

while(1)

{

co=getColorName(S3); 返回色彩名，0 到7 个色彩。，

displayCenteredBigTextLine(2,"%d",co);

switch(co)

{

case 0:

displayCenteredBigTextLine(4,"colorNone");

break;

case 1:

displayCenteredBigTextLine(4,"colorBlack");

break;

case 2:

displayCenteredBigTextLine(4,"colorBlue");

break;

case 3:

displayCenteredBigTextLine(4,"colorGreen");

break;

case 4:

displayCenteredBigTextLine(4,"colorYellow");

break;

case 5:

displayCenteredBigTextLine(4,"colorRed");

break;

case 6:

displayCenteredBigTextLine(4,"colorWhite");

break;

case 7:

displayCenteredBigTextLine(4,"colorBrown");

break;

default:

displayCenteredBigTextLine(4,"color no");

}

sleep(50);

}

getColorSaturation(S3) 返回色采饱和度。0 到100；

dis=getUSDistance(S4); 返回超升波的距离

repeatUntil(0) constant '0'. Loop will never exit.

resetGyro(S2); 重置陀螺仪，

repeatUntil(getGyroDegrees(S2) > 90) 陀螺仪反回角度。

{

setMotorSpeed(motorC,-50);

setMotorSpeed(motorB,50);

}

//Stop the motors at the end of the turn

setMotorSpeed(motorB, 0);

setMotorSpeed(motorC, 0);

displayCenteredBigTextLine(4,"%d",getGyroDegrees(S2)); 返回角度

displayCenteredBigTextLine(6,"%d",getGyroHeading(S2));返回增加减少了多少角度。

getGyroRate(S2)返回转动的速度，移动的速度？

getIRBeaconDirection(S4) 信标方向

if(getIRBeaconDirection(S4) > 5)

{

//TurnRight

setMotorSpeed(leftMotor,50);

setMotorSpeed(rightMotor,-50);

}

//Ifthe IR sensor (port 4) sees a beacon to the left (negative)

elseif(getIRBeaconDirection(S4) < -5)

{

//TurnLeft

setMotorSpeed(leftMotor,-50);

setMotorSpeed(rightMotor,50);

}

//Otherwise,move forward

else

{

//MoveForward

setMotorSpeed(leftMotor,50);

setMotorSpeed(rightMotor,50);

}

}//跟着信标走。

//While the IR beacon's signal strength isless than 20

while(getIRBeaconStrength(S4) < 20)

{

//Spinin place (seek the beacon)

setMotorSpeed(leftMotor,50);

setMotorSpeed(rightMotor,-50);

}//跟着IR信标走。

while(getIRDistance(S4) > 45) 测试红外距离。

{

//Keepmoving forward

setMotorSpeed(leftMotor,50);

setMotorSpeed(rightMotor,50);

}

//Stop the robot

setMotorSpeed(leftMotor, 0);

setMotorSpeed(rightMotor, 0);

getIRRemoteButtons(S4)

getIRRemoteChannelButtons(S4, 1)

resetBumpedValue(S1); 重置触动传感器。

repeatUntil(getBumpedValue(S1)==15) 触动传感器。按一下加一。

{

displayCenteredBigTextLine(2,"%d",getBumpedValue(S1));

resetBumpedValue(S1);

repeatUntil(getBumpedValue(S1)==15)

{

displayCenteredBigTextLine(2,"%d",getBumpedValue(S1));

displayCenteredBigTextLine(4,"%d",getTouchValue(S1));按下为1 没有按为0

}

,SensorRaw(S4)返回原始传感器的数值。

SensorType(S1) = sensorEV3_Touch; 设置传感器类型。

while(true) //Infinite loop:

{

//display "Sensor Value: ##"

displayCenteredBigTextLine(3,"SensorValue: %d",sensorValue(S1));

wait1Msec(100);

eraseDisplay();

}

Sound

//Clear the sound buffer

clearSounds(); 停止声音

•Values range from 0 to 100 (percentages)

setSystemVolume(75);声音大小

speakerVolume = getVolume(); 得到声音大小。

PlayImmediateTone(440, 50);

wait1Msec(200);

playSound(soundBeepBeep);

displayCenteredBigTextLine(2,"%d",getSoundVolume());

playSound(soundBeepBeep);

sleep(1000);

//playSound(soundBlip);

sleep(1000);

playSound(soundDownwardTones);

sleep(1000);

//playSound(soundException);

sleep(1000);

//playSound(soundFastUpwardTones);

sleep(1000);

playSound(soundLowBuzz);

sleep(1000);

playSound(soundShortBlip);

sleep(1000);

//playSound(soundUpwardTones);

sleep(5000);

◦C:\Program Files (x86)\RobomatterInc\ROBOTC Development Environment 4.X\EV3 System Files\Sounds

playSoundFile("Bravo");

playTone(784, 15);

task control

// Aborts the current time slice of the task

abortTimeslice();

// Suspend every other task and focus 100%of the CPU on the current task

hogCPU();

int myPriority = 100;

//Sets 'mypriority' to 7 (default) 默认7 最高255。任务优先级。

myPriority = kDefaultTaskPriority;

myPriority =kHighPriority;最高255

myPriority =kLowPriority;最低为0；

// Assigns the current task with a priorityof 100

nSchedulePriority = 100;

// Resume other tasks and return control tothe task scheduler

•It cancelsthe effect of a previous HogCPU() function call.

releaseCPU();

// Starts the task named"MoveArm" with a priorty of 10

startTask(MoveArm, 10);任务名，优先级10l

// Stops all tasks currently running andexits the current program

stopAllTasks();

// Stops the task named "MoveArm"

stopTask(MoveArm);

int threshold = 600;

clearTimer(T1); // Resets timer T1 to startcounting at 0

while(time1[T1] < 10000) // Loops code while timer T1 has counted lessthan 10 seconds

{

if(getColorValue(lineDetector) <threshold)

{

// counter-steer right:

setMotorSpeed(leftMotor, 50); //Set the leftMotor (motor1) tohalf power (50)

setMotorSpeed(rightMotor, 0); //Set the rightMotor (motor6) to off (0)

}

else

{

//counter-steer left:

setMotorSpeed(leftMotor, 0); //Set the leftMotor (motor1) tooff (0)

setMotorSpeed(rightMotor, 50); //Set the rightMotor (motor6) to half power(50)

}

delay(1000);

// Stores the current value of nPgmTime toa variable

varPgmTime = nPgmTime;

// Stores the current value of nSysTime toa variable

varSysTime = nSysTime;

sleep(1000);

//Sets the robot to drive forward bysetting ports A, B, C, and D at half speed for 1 second

setMultipleMotors(50, motorB, motorC);

wait(1);

stopMultipleMotors(motorB, motorC);

//Stops all of the motors attached to theEV3

stopAllMotors();

//To set motor A to speed -50 for 0.5seconds:

setMotor(motorA, -50);

wait(0.5);

stopMotor(port8);//stops motor

stopMultipleMotors(rightMotor, leftMotor,armMotor);

resetTimer(T1);

while(getTimer(T1,milliseconds)<2000){

}

stopAllmotors();c

humanxp · 发表于 2017-10-10 13:45:40

本帖最后由 humanxp 于 2017-10-11 10:44 编辑

setMotorTarget(motorA,1000,50);
设置电机到指定的度数，以0为基准。
moveMotorTarget(motorA,1000,50;
在当前的情况下。移动多少角度。

yx2134173 · 发表于 2017-10-10 16:35:32

好长……耐不住性子看~~~先赞一个

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