Custom Lego Remote

The_Bookworm · Wed Nov 21, 2012 11:30 am

So I have been working on a remote control for my car that I built similar to this one that uses motor A for steering and motors B and C to move. I have a controller for it which features two motors to steer. One has a wheel like a steering wheel, the other is sideways like a throttle. I had originally been using the nxt buttons to steer and the program was working great, once I switched to a steering wheel, the program broke. The rover starts moving at the start of the program even though it should be stopped, half the time the throttle no longer works and I have yet to make the steering wheel actually work. Would someone mind looking at the code and telling me if they can find a problem or suggest how to get the steering wheel to work?
Thanks, Michael

Remote Control Code


	Code: //!!Code automatically generated by 'ROBOTC' configuration wizard !!// int V; int a; int b; task main() { nMotorEncoder[motorA]=0; nMotorEncoder[motorB]=0; while(true) { a = nMotorEncoder[motorA]; b = nMotorEncoder[motorB]; V = nNxtButtonPressed; sendMessageWithParm(V, a, b); wait1Msec(100); // Don’t send messages too frequently. } }

Car Code


	Code: #pragma config(Sensor, S1, , sensorSONAR) //!!Code automatically generated by 'ROBOTC' configuration wizard !!// int turn = 0; int math1; void stop() { motor[motorB]=0; motor[motorC]=0; } void turnright() { while(nMotorEncoder[motorA] <15) { motor[motorA]=21; } motor[motorA]=0; } void turnstrait() { if (nMotorEncoder[motorA]>-100 && nMotorEncoder[motorA] < 0 ) { while(nMotorEncoder[motorA] != 0 ) { motor[motorA]=21; } motor[motorA]=0; } if (nMotorEncoder[motorA]>0 ) { while(nMotorEncoder[motorA] != 0 ) { motor[motorA]=-21; } motor[motorA]=0; } } void turnleft() { while(nMotorEncoder[motorA] > -15) { motor[motorA]=-21; } motor[motorA]=0; } task steer() { while(true) { math1= 32-turn; //find the direction motor[motorB]=turn; motor[motorC]=turn; } } task main{ nMotorEncoder[motorA]=0; StartTask(steer); motor[motorB]=0; motor[motorC]=0; while (true) { // // Skip to the last message received // while (bQueuedMsgAvailable()) { word temp; ClearMessage(); // We’re ready to process the next message temp = message; // Obtain the next message } if (message == 0) { // No message is available to process wait1Msec(5); continue; } // A message is ready to be processed int ident = message; if(ident== 1) {// the value of ‘S1’ from the remote NXT //throttle: line 1: dead zone or, set the motors to = the rotation if (messageParm[2] > -10 && messageParm[2] < 10) {motor[motorB]=0; motor[motorC]=0;} else{ motor[motorB] = messageParm[1]; motor[motorC] = messageParm[1];} int a = messageParm[0]; int b = messageParm[1]; int c = messageParm[2]; //steering turn = messageParm[1]; if (messageParm[0]!=-1){motor[motorA]=10;} } } }

Custom Lego Remote

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