{"id":168,"date":"2016-01-14T07:58:53","date_gmt":"2016-01-14T07:58:53","guid":{"rendered":"http:\/\/iict-space.heig-vd.ch\/ape\/?page_id=168"},"modified":"2016-01-14T10:23:55","modified_gmt":"2016-01-14T10:23:55","slug":"fsm_read_bits_from_ground","status":"publish","type":"page","link":"http:\/\/iict-space.heig-vd.ch\/ape\/teaching\/aro1\/fsm_read_bits_from_ground\/","title":{"rendered":"FSM_read_bits_from_ground"},"content":{"rendered":"

Ce fichier doit s\u2019appeler par exemple: FSM_read_bits_from_ground.aesl<\/strong><\/p>\n

Ce code utilise des subroutines pour \u00eatre mieux structur\u00e9 et la machine d’\u00e9tats est r\u00e9alis\u00e9e \u00e0 l’aide de deux subroutines: update_state o\u00f9 l’on\u00a0d\u00e9termine les transitions d’\u00e9tat et update_output qui d\u00e9termine les sorties pour chaque \u00e9tat de la machine. Lorsque vous pressez sur le bouton du centre, il d\u00e9marre et avance \u00e0 une vitesse de 50. “onevent prox” permet de “lire”\u00a0le signal d’horloge (capteur gauche) et lorsque l’on d\u00e9tecte le flanc montant de l’horloge, la subroutine read_data va lire la donn\u00e9e (data) \u00e0 l’aide du capteur droit. Votre travail consiste \u00e0 modiifer les subroutines update_state et update_output.<\/p>\n

var data\r\nvar state\r\nvar clock_value\r\nvar ground_reading\r\nclock_value = 0\r\ndata = 0\r\nstate = 0\r\n\r\nmotor.left.target = 0\r\nmotor.right.target = 0\r\n\r\n#------------------------------------------------\r\nsub update_state # update the states\r\nif state == 0 then\r\n  if data == 0 then\r\n   state = 0\r\n  else\r\n   state = 1\r\n  end\r\nelseif state == 1 then\r\n  if data == 0 then\r\n   state = 0\r\n  else\r\n   state = 1\r\n  end\r\nelse\r\n  motor.left.target = 0 # error condition\r\n  motor.right.target = 0\r\n  call leds.top(32,0,0) # signal error condition\r\nend\r\n\r\n#------------------------------------------------\r\nsub update_output # update the outputs\r\nif state == 0 then\r\n  call leds.circle(1,0,0,0,0,0,0,0) # show current state for debugging\r\nelseif state == 1 then\r\n  call leds.circle(0,1,0,0,0,0,0,0) # show current state for debugging\r\n\r\n  call leds.top(0,32,0) # signal goal\r\nend\r\n\r\n#------------------------------------------------\r\nsub read_data # read the right ground sensor\r\nif prox.ground.delta[1] < 350 then # black line (data)\r\n  call leds.bottom.right(0,0,32) # show the data value\r\n  data = 1 # update the data value\r\nelse\r\n  call leds.bottom.right(0,0,0) # show the data value\r\n  data = 0 # update the data value\r\nend\r\n\r\n#------------------------------------------------\r\nsub update_all\r\ncallsub read_data # read the data\r\ncallsub update_state # update the states\r\ncallsub update_output # update the output\r\n\r\n#------------------------------------------------\r\nonevent prox\r\nground_reading = prox.ground.delta[0] # read the left ground sensor (clock)\r\n\r\nif clock_value == 0 then\r\n  if ground_reading < 340 then # black line \r\n    clock_value = 1 # update the clock value \r\n    call leds.bottom.left(0,0,32) # show the clock value    \r\n    callsub update_all # rising clock ! =>    |read right sensor\r\n                                            # |update states\r\n                                            # |update outputs\r\nend\r\nelse\r\n if ground_reading > 360 then # white line\r\n   clock_value = 0 # update the clock value\r\n   call leds.bottom.left(0,0,0) # show the clock value\r\n end\r\nend\r\n\r\n#------------------------------------------------\r\nonevent button.center\r\nif button.center == 1 then\r\n  if motor.left.target == 0 then # start moving\r\n   state = 0\r\n   call leds.top(0,0,0)\r\n   motor.left.target = 50\r\n   motor.right.target = 50\r\n  else # stop moving\r\n   motor.left.target = 0\r\n   motor.right.target = 0\r\n  end\r\nend\r\n\r\n<\/pre>\n","protected":false},"excerpt":{"rendered":"
Ce fichier doit s\u2019appeler par exemple: FSM_read_bits_from_ground.aesl Ce code utilise des subroutines pour \u00eatre mieux structur\u00e9 et la machine d’\u00e9tats est r\u00e9alis\u00e9e \u00e0 l’aide de deux subroutines: update_state o\u00f9 l’on\u00a0d\u00e9termine les transitions d’\u00e9tat et update_output qui d\u00e9termine les sorties pour Continue reading   FSM_read_bits_from_ground<\/span>→<\/span><\/a><\/p>\n","protected":false},"author":10,"featured_media":0,"parent":140,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"","meta":[],"_links":{"self":[{"href":"http:\/\/iict-space.heig-vd.ch\/ape\/wp-json\/wp\/v2\/pages\/168"}],"collection":[{"href":"http:\/\/iict-space.heig-vd.ch\/ape\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"http:\/\/iict-space.heig-vd.ch\/ape\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"http:\/\/iict-space.heig-vd.ch\/ape\/wp-json\/wp\/v2\/users\/10"}],"replies":[{"embeddable":true,"href":"http:\/\/iict-space.heig-vd.ch\/ape\/wp-json\/wp\/v2\/comments?post=168"}],"version-history":[{"count":6,"href":"http:\/\/iict-space.heig-vd.ch\/ape\/wp-json\/wp\/v2\/pages\/168\/revisions"}],"predecessor-version":[{"id":187,"href":"http:\/\/iict-space.heig-vd.ch\/ape\/wp-json\/wp\/v2\/pages\/168\/revisions\/187"}],"up":[{"embeddable":true,"href":"http:\/\/iict-space.heig-vd.ch\/ape\/wp-json\/wp\/v2\/pages\/140"}],"wp:attachment":[{"href":"http:\/\/iict-space.heig-vd.ch\/ape\/wp-json\/wp\/v2\/media?parent=168"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}