Robot: Created page with "We would like to make the Tatrabot learn. igidgijd #include #include "tatrabot.h" #include "demo.h" int ml[10]; i..."

2019-04-08T12:34:19Z

Created page with "We would like to make the Tatrabot learn. <youtube>igidgijd</youtube> <syntaxhighlight lang="C"> #include <stdlib.h> #include "tatrabot.h" #include "demo.h" int ml[10]; i..."

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We would like to make the Tatrabot learn.

<youtube>igidgijd</youtube>

<syntaxhighlight lang="C">

#include <stdlib.h>
#include "tatrabot.h"
#include "demo.h"

int ml[10];
int mr[10];
int mt[10];

void generate_movement(void)
{
for (int i = 0; i < 10; i++)
{
ml[i] = rand() % 20000 - 10000;
mr[i] = rand() % 20000 - 10000;
mt[i] = rand() % 900 + 100;
}
}

void demonstrate_movement(void)
{
for (int i = 0; i < 10; i++)
{
setMotor(1, ml[i]);
setMotor(2, mr[i]);
chThdSleepMilliseconds(mt[i]);
}
setMotor(3, 0);
}

int mind, oldl, oldr, oldt;

void generate_modification(void)
{
mind = rand() % 10;
oldl = ml[mind];
oldr = mr[mind];
oldt = mt[mind];
ml[mind] = rand() % 20000 - 10000;
mr[mind] = rand() % 20000 - 10000;
mt[mind] = rand() % 900 + 100;
}

int acquire_feedback(void)
{
int positive_answer, negative_answer, finish_answer;
do
{
senseTemperatureAndPressure(0);
positive_answer = (temperature > 280);
negative_answer = (distance > 1500);
finish_answer = senseButton(3);

sound(2000);
chThdSleepMilliseconds(30);
nosound();
chThdSleepMilliseconds(50);
} while (!positive_answer && !negative_answer && !finish_answer);

if (positive_answer) return 1;
if (negative_answer) return 0;
return -1;
}

void revert_modification(void)
{
ml[mind] = oldl;
mr[mind] = oldr;
mt[mind] = oldt;
}

void beep(void)
{
sound(440);
chThdSleepMilliseconds(200);
nosound();
}

void learn (void)
{
int feedback;
generate_movement();
demonstrate_movement();
beep();
chThdSleepMilliseconds(7000);
do
{
generate_modification();
demonstrate_movement();

feedback = acquire_feedback();
if (feedback == 0) revert_modification();
} while (feedback >= 0);
}

int main(void)
{
tatrabotInit();
srand(distance);

chprintf(PC, " Hello hello, this is Tatrabot speaking...\n\r");
chprintf(BT, " Hello Tatrabot on BT!\n");

demo();
learn();

while(true)
{
setLED(0, 1);
chThdSleepMilliseconds(1000);
setLED(0, 0);
chThdSleepMilliseconds(1000);
}
}

</syntaxhighlight>

Tatrabot learns - Revision history

Robot: Created page with "We would like to make the Tatrabot learn. igidgijd #include #include "tatrabot.h" #include "demo.h" int ml[10]; i..."