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Lego Two-Dimensional Array 
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MariosRobot
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Joined: Wed Feb 20, 2013 2:46 am
Posts: 64
Post Lego Two-Dimensional Array
Dear,
i want to make a Two-Dimensional Array for Lego,
i want to make a path planning to avoid the obstacles and find the shorter path in a map

how to create this program?

thanks in advance
best regards
Tue Apr 09, 2013 7:49 am
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mightor
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Post Re: Lego Two-Dimensional Array
I can help you with the array but you're on your own with the other thing. Good luck though!

Code:
int array[10][10];


= Xander

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Tue Apr 09, 2013 9:23 am
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MariosRobot
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Post Re: Lego Two-Dimensional Array
thanks bro, i will start the project with this
Tue Apr 09, 2013 12:06 pm
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mightor
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Post Re: Lego Two-Dimensional Array
Good start but I think you're likely to need a bit more code to get the whole thing working :)

= Xander

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Tue Apr 09, 2013 12:23 pm
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MariosRobot
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Post Re: Lego Two-Dimensional Array
i have one square 5X5,
any square 25cm
so the big square is 125X125 cm
how to define this in a two dimensional array?


Attachments:
PathPlanning.png
PathPlanning.png [ 25.96 KiB | Viewed 4036 times ]
Fri May 10, 2013 7:56 am
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mightor
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Post Re: Lego Two-Dimensional Array
You could make obstacles to be -1
Code:
int maze[][] = {{10, 9, 8, 7, 8},
{11, 10, -1, 6, 7},
{-1, -1, -1, 5, 6},
{1, 2, -1, 4, 5}
{0, 1, 2, 3, 4}};


= Xander

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Fri May 10, 2013 8:37 am
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MariosRobot
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Post Re: Lego Two-Dimensional Array
thanks a lot bro
Fri May 10, 2013 9:07 am
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MariosRobot
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Post Re: Lego Two-Dimensional Array
another one question bro, how to define the start point and end point?
Fri May 10, 2013 5:06 pm
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mightor
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Post Re: Lego Two-Dimensional Array
Well, that depends, do you know before you start the robot where the start and finish are? How does your robot distinguish the tiles? Or do you already know "I start here and I finish there"?

= Xander

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Sat May 11, 2013 1:03 am
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MariosRobot
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Post Re: Lego Two-Dimensional Array
i want to give the start point and the end point and found the shorter path and avoid obstacles
for found the obstacles i will use the sonar sensor
but i don't know how to define start and end point
Sat May 11, 2013 3:17 am
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mightor
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Post Re: Lego Two-Dimensional Array
You should have a look to see how others have implemented this in C. Also take a look here:
http://www.mcs.alma.edu/LMICSE/LabMater ... lgCoL4.htm
http://www.me.iitb.ac.in/~adeshmukh/floodfill.php

= Xander

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Sat May 11, 2013 3:29 am
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MariosRobot
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Post Re: Lego Two-Dimensional Array
Dear,
i want only to move from one point to other point,
is it easy?

thanks in advance
best regards
Mon Jun 03, 2013 5:51 pm
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roboRed
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Post Re: Lego Two-Dimensional Array
mightor wrote:
I can help you with the array but you're on your own with the other thing. Good luck though!

Code:
int array[10][10];


= Xander



I didn't know that that was possible!!!! :shock: :eek:

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Mon Jun 03, 2013 7:43 pm
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Ernest3.14
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Post Re: Lego Two-Dimensional Array
Just a quick interjection:
I've read of the wavefront method multiple times; is it the only method? It's always mentioned as the most primitive, so surely there must be better ones :)

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Mon Jun 03, 2013 9:34 pm
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MariosRobot
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Post Re: Lego Two-Dimensional Array
can you help me with robotC code?

my instructor give me some code's parts and i implemented an algorithm but not working

Code:
#pragma config(Sensor, S4,     sonarSensor,    sensorSONAR)
//*!!Code automatically generated by 'ROBOTC' configuration wizard               !!*//

int  M[25][25];
int  V[25][25];
int maxx = 24;
int maxy = 24;
int Gx, Gy, x, y;
int goal, Sx, Sy;

//Assign sequencial values in the value array
void assignvalues(){
  bool check = false;

  while (check == false){
       for (y=Gy; y>=0; y--){
          for (x=Gx; x<=maxx; x++){
               if (((y-1)>=0) && (M[x][y-1]!=1) && ((V[x][y]+1)<V[x][y-1]))
                  V[x][y-1] = V[x][y] + 1;

            if (((x-1)>=0) && (M[x-1][y]!=1) && ((V[x][y]+1)<V[x-1][y]))
              V[x-1][y] = V[x][y] + 1;

            if (((y+1)<=maxy) && (M[x][y+1]!=1) && ((V[x][y]+1)<V[x][y+1]))
              V[x][y+1] = V[x][y] + 1;

            if (((x+1)<=maxx) && (M[x+1][y]!=1) && ((V[x][y]+1)<V[x+1][y]))
              V[x+1][y] = V[x][y] + 1;
           }

          for (x=Gx-1; x>=0; x--){
            if (((y-1)>=0) && (M[x][y-1]!=1) && ((V[x][y]+1)<V[x][y-1]))
              V[x][y-1] = V[x][y] + 1;

            if (((x-1)>=0) && (M[x-1][y]!=1) && ((V[x][y]+1)<V[x-1][y]))
              V[x-1][y] = V[x][y] + 1;

            if (((y+1)<=maxy) && (M[x][y+1]!=1) && ((V[x][y]+1)<V[x][y+1]))
              V[x][y+1] = V[x][y] + 1;

            if (((x+1)<=maxx) && (M[x+1][y]!=1) && ((V[x][y]+1)<V[x+1][y]))
              V[x+1][y] = V[x][y] + 1;
          }
        }

       for (y=Gy+1; y<=maxy; y++){
          for (x=Gx; x<=maxx; x++){
            if (((y-1)>=0) && (M[x][y-1]!=1) && ((V[x][y]+1)<V[x][y-1]))
              V[x][y-1] = V[x][y] + 1;

            if (((x-1)>=0) && (M[x-1][y]!=1) && ((V[x][y]+1)<V[x-1][y]))
              V[x-1][y] = V[x][y] + 1;

            if (((y+1)<=maxy) && (M[x][y+1]!=1) && ((V[x][y]+1)<V[x][y+1]))
              V[x][y+1] = V[x][y] + 1;

            if (((x+1)<=maxx) && (M[x+1][y]!=1) && ((V[x][y]+1)<V[x+1][y]))
              V[x+1][y] = V[x][y] + 1;
          }

          for (x=Gx-1; x>=0; x--){
            if (((y-1)>=0) && (M[x][y-1]!=1) && ((V[x][y]+1)<V[x][y-1]))
              V[x][y-1] = V[x][y] + 1;

            if (((x-1)>=0) && (M[x-1][y]!=1) && ((V[x][y]+1)<V[x-1][y]))
              V[x-1][y] = V[x][y] + 1;

            if (((y+1)<=maxy) && (M[x][y+1]!=1) && ((V[x][y]+1)<V[x][y+1]))
              V[x][y+1] = V[x][y] + 1;

            if (((x+1)<=maxx) && (M[x+1][y]!=1) && ((V[x][y]+1)<V[x+1][y]))
              V[x+1][y] = V[x][y] + 1;
          }
        }
        check = true;
        for(int j=0;j<=maxy;j++)
           for(int i=0;i<=maxx;i++)
             if ((M[i][j]!=1) && (V[i][j]==-1)) //-1:obstacle
               check = false;
  }

}

}
task main()
{
  int i, j;

  //Assign values in the Main array
   for(j=0;j<=maxy;j++){
     for(i=0;i<=maxx;i++){
       M[i][j] = 1;
     }
  }

  M[1][0] = 0;
  M[2][0] = 0;
  M[3][0] = 0;
  M[4][0] = 0;
  M[5][0] = 0;
 
  M[2][1] = 0;
  M[3][1] = 0;
  M[4][1] = 0;
  M[5][1] = 0;
  M[6][1] = 0;
 

  for (i=3; i<25; i++){
     M[i][2] = 0;}

  for (i=3; i<25; i++){
     M[i][3] = 0;}

  for (i=3; i<25; i++){
     M[i][4] = 0;}

  for (i=3; i<25; i++){
     M[i][5] = 0;}

  for (i=3; i<25; i++){
     M[i][6] = 0;}
   M[1][6] = 0;
   M[2][6] = 0;

   for (i=3; i<25; i++){
      M[i][7] = 0;}
   M[1][7] = 0;
   M[2][7] = 0;
   for (i=3; i<25; i++){
      M[i][7] = 1;}

    M[1][8] = 0;
    M[2][8] = 0;
   for (i=3; i<25; i++){
      M[i][8] = 0;}
   for (i=3; i<25; i++){
     M[i][8] = 1;}

   for (i=3; i<25; i++){
      M[i][9] = 0;}
   for (i=3; i<25; i++){
      M[i][9] = 0;}
  M[22][9] = 0;
   M[23][9] = 0;

   for (i=3; i<25; i++){
      M[i][10] = 0;}

    M[24][10] = 0;
    M[25][10] = 0;

    M[2][11] = 0;
    M[3][11] = 0;
    M[4][11] = 0;

    M[3][12] = 0;
    M[4][12] = 0;

   

   for (i=3; i<25; i++){
      M[i][13] = 0;}

   for (i=3; i<25; i++){
      M[i][14] = 0;}

   for (i=3; i<25; i++){
      M[i][15] = 0;}

   for (i=3; i<25; i++){
      M[i][16] = 0;}

   for (i=22; i<28; i++){
      M[i][17] = 0;}

    //Reset the values in the Value array
    for (j=0; j<=maxy; j++)
      for (i=0; i<=maxx; i++)
        V[i][j] = -1;

    V[Gx][Gy] = 0;

   Gx=25;
   Sx=1;
   
  // Move forward until 7 cm from the wall.
    while (SensorValue(sonarSensor) > 7)
    {
        motor[motorA] = 10;
        motor[motorC] = 10;
    }

   // go backward
    motor[motorA] = -6;
    motor[motorC] = -6;
    wait1Msec(5000); // stop in 5 seconds
 }
Tue Jun 04, 2013 7:11 am
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