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Wed, 27 Dec 2006
test version of SRV-1 firmware with C interpreter

As discussed previously, we now have a version of SRV-1 firmware that includes a C interpreter as an alternative to BASIC. A set of SRV-1 specific functions have been included - motors(), ir(), imgcap(), scan(), blob(), colorcap(), colorset(), colorget(), bitdir(), bitset(), bitget() - so it should be possible to develop a variety of interesting behaviors that are controlled by onboard code.

Here's a code sample that uses some of these functions ...

/* capture color sample for scan() function */
int _x, _y, _z, _ymin, _ymax, _umin, _umax, _vmin, _vmax;
main()
{
   int ix;
   imgcap();
   colorcap(1, 30, 50, 1, 5);
   colorget(1);
   print(_ymin _ymax _umin _umax _vmin _vmax);
   do
   {
     imgcap();
     scan(1);
     print("test" _x _y _z);
     ix = input();
   } while (ix != 65); /* continue running until input = 'A' */
}

We'll start to build a libary of code samples, and welcome contributions from users.

There are now 2 versions of firmware - one that includes BASIC and one the includes C. The BASIC version is almost identical to the 120206 firmware release, with 3 minor changes -
  • the MOTORS command now has a comma between the left and right motor settings, so parentheses are no longer needed for negative values, e.g. MOTORS 50, -50
  • we fixed a bug in the BLOB function which ignored the color # and only used color #0, so BLOB 5 would have returned results from BLOB 0
  • we increased the maximum program size from 1024 to 4096 bytes

Here are the latest download links for both versions of firmware -

Please post any problems, suggestions, and/or interesting code samples on the Surveyor Robotics Forum.

Posted Wed, 27 Dec 2006 13:57 | HTML Link | see additional stories ...