Handyboard and Kit Manual (A.K.A. - Botball Programming Guide)

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© 2002 D.Miller, KIPR31IC: Functions & Processes• Functions are called sequentially• Processes can be run simultaneouslystart_process(function-call);– processes halt when function exits or parent processexits– processes can be halted by usingkill_process(process_id);• hog_processor(); locks process in CPUuntil it finishes or defers• defer(); causes process to give up the rest ofits time slice until next time.© 2002 D.Miller, KIPR32Example of Processesvoid main(){int pid;/* run my waa function *//* as a parallel process */pid=start_process(waa());sleep(5.0);/* if waa is still going *//* turn waa off */kill_process(pid);/* if tone got killed *//* finish it off */beeper_off();}void waa(){float p;while(!stop_button()){ /* run tone up *//* over & over */p=200.0;while(p
© 2002 D.Miller, KIPR33Example of Processes (2)void main(){int pid;// run s_waa function// as a parallel processpid=start_process(s_waa());sleep(10.0);/* if s_waa is still goingturn s_waa off */kill_process(pid);/* if s_waa timed out, turnoff sound & servo*/beeper_off();init_expbd_servos(0);}void s_waa(){float p;int s3; // servo valueinit_expbd_servos(1);while(!stop_button()){// run tone <strong>and</strong> servo upp=200.0; s3=200;while(p
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Page 8 and 9: © 2002 D.Miller, KIPR15IC Interact
Page 10 and 11: © 2002 D.Miller, KIPR19• Tools m
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Page 14 and 15: © 2002 D.Miller, KIPR27Making a De
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Page 20 and 21: © 2002 D.Miller, KIPR39Sensor Type
Page 22 and 23: © 2002 D.Miller, KIPR43• Stop Bu
Page 24 and 25: © 2002 D.Miller, KIPR47Optical Ran
Page 26 and 27: © 2002 D.Miller, KIPR51• Digital
Page 28 and 29: © 2002 D.Miller, KIPR55Simple Enco
Page 30 and 31: © 2002 D.Miller, KIPRExperimenting
Page 32 and 33: © 2002 D.Miller, KIPR63RCX SetupTo
Page 34 and 35: © 2002 D.Miller, KIPR67RCX Cool Fu
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Handyboard and Kit Manual (A.K.A. - Botball Programming Guide)

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