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3 Pages

### q2sol

Course: MJM 46, Fall 2009
School: Drexel
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Word Count: 475

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Quiz ECE-C304 2 2/3/04 SOLUTIONS Problem Use multi-tasking technique to code void t_seconds(float *x, float t) the which moves the legobug forward and stops when the bug hits a wall or has traveled for t seconds. The program also assigns the content of pointer x with the elapsed time from start to stop. The tasks you are to use are given below void bumpers(int *flag, int L, int R) { while(1){ while (!digital(L)...

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Quiz ECE-C304 2 2/3/04 SOLUTIONS Problem Use multi-tasking technique to code void t_seconds(float *x, float t) the which moves the legobug forward and stops when the bug hits a wall or has traveled for t seconds. The program also assigns the content of pointer x with the elapsed time from start to stop. The tasks you are to use are given below void bumpers(int *flag, int L, int R) { while(1){ while (!digital(L) && !digital(R)) defer(); *flag = 1; while (*flag ==1) defer(); } void stop_watch (int *start_flag, int *stop_flag, float *elapsed_time) /* timing begins when start_flag == 1 and stops when stop_flag == 1.*/ /* The elapsed time returns at elapsed_time. */ { float start_time; /* assume that user does reset_system_time();*/ while(*start_flag == 0) defer(); /* step 1: wait to start timing then sets start_time */ start_time = seconds(); while(*stop_flag == 0) defer(); /* step 2: wait to stop then returns elapsed time */ *elapsed_time = seconds() - start_time; } void timer(int *flag, float *time_span) { float start_time = seconds(); while (seconds()-start_time < *time_span) defer(); *flag = 1; } The left bumper is Port 15, the right bumper is Port 7, the right motor is Port 0 and the left motor is Port 3 void t_seconds(float *x, float t) { start_flag = 1; /* variables are initialized as globals*/ flag_expired = 0; flag_hit = 0; stop_flag = 0; elapsed_time = 0.0; start_process(bumpers(&flag,15,7)); reset_system_time(); start_process(stop_watch(&start_flag,&stop_flag,&elapsed_time)); start_process(timer(&flag_expired,T)); while (flag_expired 0 == && flag_hit == 0) { fd(0); fd(3); } stop_flag=1; if(flag_expired == 0) *x = elapsed_time; else *x = T; } ECE-C304 Quiz 2 2/2/04 Groundhog Day afternoon Name:____________________________________ Problem Code a legobug to turn right then move forward when we press the start button and turn left then move forward when we press stop button. The right motor is Port 0 and the left motor is Port 3. Use the sleep function to implement turns. The turn constant in second is passed as the argument t. void right_left(float T) start_press(); while (1) { if (start_button()==1) { ao(); /* stops robot from moving forward */ reset_system_time(); /* reset system clock */ while(seconds() < t) { right(); /* could use sleep */ } forward(); } if (stop_button()==1) { ao();/* stops robot from moving forward */ reset_system_time(); /* reset system clock */ while(seconds() < t) { left(); /* could use sleep */ } forward(); } } ECE-C...

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