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{-# OPTIONS_GHC -fno-warn-unused-do-bind #-}
-- | moves a robot using two tracks on engines B & C
-- the robot moves tills the tactile sensor is pressed, then it reverse a little, turns and start again
module Main where
import Robotics.NXT
import Robotics.NXT.Samples.Helpers
import System.Environment (getArgs)
import Control.Concurrent (threadDelay,forkIO)
import Control.Monad.IO.Class (liftIO)
import Data.IORef
import System.IO
import Control.Monad.State.Lazy (evalStateT)
import Control.Monad.Trans.Class (lift)
-- | the main method
main :: IO()
main = do
(device:_)<-getArgs
iorC<-newIORef True
forkIO (do
hSetBuffering stdin NoBuffering
hSetBuffering stdout NoBuffering -- does not Work on windows
putStrLn "press space to stop robot"
waitForStop iorC
putStrLn "stopping..."
return ()
)
withNXT device (do
evalStateT (do
reset [B,C]
forever loop
reset [B,C]
) (pollForStopIOR iorC)
liftIO $ threadDelay 1000000 -- wait before killing everything probably not needed after reset
)
--killThread tid
-- | the main loop for the robot
loop :: --PollForStop -- ^ the stopping action
-- ->
StopSt()
loop = do
move [B,C] 75 [0,0] 0 -- move forever
lift $ setInputModeConfirm One Switch BooleanMode -- set the sensor on port One to switch mode
pollForScaled One 0 -- wait for sensor to be triggered
stop [B,C] -- stop
move [B,C] (-75) [0,0] 360 -- reverse
move [B,C] (-75) [100,-100] 360 -- turn
stop [B,C] -- stop
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