I've got this program (code below) that isn't working as expected. There must me something wrong with the timer. Could you help me find out what?

Scenario:
The forward button is pressed, then the right button is pressed.

Actual result:
The right wheel start turning and keep turning indefinitely.

Expected result:
The right wheel starts turning and then stops after one second.

Program:

onevent button.center when button.center == 1 do motor.left.target = 0 motor.right.target = 0 call leds.top(32,0,0) end onevent button.forward when button.forward == 1 do call leds.top(6,26,0) while not (button.center == 1) do if button.right == 1 then motor.right.target = -100 timer.period[0] = 1000 call leds.top(32,13,0) end if button.left == 1 then motor.right.target = 100 timer.period[0] = 1000 call leds.top(32,26,0) end end end onevent timer0 motor.left.target = 0 motor.right.target = 0 call leds.top(6,6,32)

Best regards,
Emmanuel

var mot_l
var mot_r

1. Variables for Braitenberg avoid routine

var avoid_l[5] = [2, 0, -1, -5, -10]
var avoid_r[5] = [-10, -5, -2, 0, 2]
var avoid_shift = 4
var avoid_offset = MAX_SPEED*2/5

callsub init

sub init
call leds.temperature(0,0)

sub braitenberg_avoid
# Use the vector dot product to calculate motor values
call math.dot(mot_l, avoid_l, prox.horizontal[0:4], avoid_shift)
mot_l += avoid_offset
call math.dot(mot_r, avoid_r, prox.horizontal[0:4], avoid_shift)
mot_r += avoid_offset

# If motor values are < -MAX_SPEED or > +MAX_SPEED fix them
call math.clamp(mot_l, -MAX_SPEED, mot_l, MAX_SPEED)
call math.clamp(mot_r, -MAX_SPEED, mot_r, MAX_SPEED)

# Write calculated motor values to Thymio variables to run motors
motor.left.target = mot_l
motor.right.target = mot_r

onevent prox
callsub braitenberg_avoid

im working on a little project where I control the Thymio with Python and a Raspberry Pi.

I know how to set the values for the motors:

value = 250 network.SetVariable("thymio-II", "motor.left.target", [value])

But how can I read the values from the proximity sensors with python?
I tried this but this is not working:

network.GetVariable("thymio-II", "prox.horizontal[2]")

Does someone has an idea?

Thanks.

I also thought of combining incoming ir with proximity sensors but the looks like the range wont allow that. Even if that works, such a solution is a hack and not a proper solution to access the incoming signals directionally.

Please let me know if I am missing something! I would appreciate the help. Thanks!

How would I do this?

If a line is detected at any point, the robot should immediately turn right and follow the line for a given distance of 60cm.

Thanks
David

### VARIABLES DECLARATION ###
var running = 1
var counter = 0
var state
var intensityDiff
var code
#Colors tables
var r[]=[OFF,OFF,OFF,OFF,ON,ON,ON,ON]
var g[]=[OFF,OFF,ON,ON,OFF,OFF,ON,ON]
var b[]=[OFF,ON,OFF,ON,OFF,ON,OFF,ON]

call leds.top(r[code], g[code], b[code])
#0=colorless,1=blue,2=green,3=lightblue,4=red,5=darkpink,6=yellow,7=purple

### TURNING OFF THE LEDs ###
call leds.prox.v(0,0)
call leds.prox.h(0,0,0,0,0,0,0,0)
call leds.top(0,0,0)
call leds.temperature(0,0)

### EVENT BUTTON FORWARD ###
onevent button.forward

1. starts line tracking and waits for sync bit

if button.forward == 1 then
running = 1
state = S_WAIT_SYNC
end

### EVENT BUTTON CENTER ###
onevent button.center
#stops running and motors, turns LEDs off
if button.center == 1 then
running = 0
motor.left.target = 0
motor.right.target = 0
call leds.top(0,0,0)
end

### EVENT PROXIMITY SENSORS (EVERY 100 ms => 10 Hz)###
onevent prox
#if the robot is running, steering and bar code reading are activated
#we use the prox.ground.delta[1] to steer, the …[0] to check the bar code

if running == 1 then

### STEERING PART ###
intensityDiff = prox.ground.delta[1]-525
#speed of robot is adjusted to keep around a gray mean value. If
#difference is too important, the robot spins until it finds the line
#again. The steering is controled by the gray gradient of the trail.
if abs(intensityDiff) < 170 then
motor.left.target = 115+intensityDiff/8
motor.right.target = 115-intensityDiff/8
else
motor.left.target = intensityDiff/4
motor.right.target = -intensityDiff/4
#edit to stop colours if line is lost
state = S_WAIT_SYNC
end

### BAR CODE CHECKING PART ###
#if Thymio is waiting for sync and crosses a black line, it starts bar
#code reading and turns LEDs off.
if state == S_WAIT_SYNC and prox.ground.delta[0] < BW_LIMIT then
state = S_READING
call leds.top(0,0,0)
counter = 0
emit data [prox.ground.delta[0],1000]
end
emit data [prox.ground.delta[0],0]
#if state is reading, the robot reads the bar code
if state == S_READING then

#we wait to count to 2 times the timer = 100 ms (counter is
#increment at the end of the code) so we are in the middle of the
#black sync box
if counter == 2 then
code=0
#we wait the first two counter + one INTERVAL (4 * 50ms) to measure
#the first block of bar code. This can be tuned to match with the
#speed of the robot
elseif counter == (2+INTERVAL) then
emit data [prox.ground.delta[0],1000]
#if bit is white set code to 1 (c0=001b)
if prox.ground.delta[0]>BW_LIMIT
then code=1
else code=0
end
#test again after another INTERVAL
elseif counter == (2+2*INTERVAL) then
emit data [prox.ground.delta[0],1000]
#if bit is white add 2^1 to code (c1=010b)
if prox.ground.delta[0]>BW_LIMIT
then code +=2
end
elseif counter == (2+3*INTERVAL) then
emit data [prox.ground.delta[0],1000]
#if bit is white add 2^2 to code (c2=100b)
if prox.ground.delta[0]>BW_LIMIT then code +=4
end

#LEDs are turned on according to binary code (c2 c1 c0)
call leds.top(r[code],g[code],b[code])
#again another INTERVAL and we go back to S_WAIT_SYNC to wait for
#the next bar code
elseif counter == (2+4*INTERVAL+3) then
state = S_WAIT_SYNC
end
counter += 1
else
call leds.circle(0,0,0,0,0,0,0,0)
end
end

I need to run some robot controller code in C++ on Thymio. How can I do this? I have seen examples on this website using a tool called Asebamedulla to execute python and communicate with Thymio's VM, setting and reading variables. I basically want to do the same in C or C++.

I've seen Aseba's Github repository and there are examples using Asebamedulla and dbus to communicate with Thymio. I managed to execute the code from Thymio RaspberryPy example on the robot, but when I execute C++ examples I receive compilation errors. I don't know if it is possible to use them or not.

Thank you

I'm sarita and I'm trying to use the emit function, in order to have the robots communicating with each other. However, i'm with some problems.. :'(
The robots are not receiving the information emited. I tried to use the example that was provided in the website, but it still doesn't work.

This is the example:

Code for Robot 1

1. variables

var counter = 0

onevent ir_sensors

if counter == 10 then
emit move [1,0]
end

if counter == 100 then
emit move [0,1]
end

counter += 1

Code for Robot2:

1. events

onevent move
if args[0] == 1 then
leftSpeed = 400
rightSpeed = 400
else
leftSpeed = 0
rightSpeed = 0
end

onevent stop
leftSpeed = 0
rightSpeed = 0

Code for Robot3:

1. events

onevent move
if args[1] == 1 then
leftSpeed = 400
rightSpeed = 400
else
leftSpeed = 0
rightSpeed = 0
end

onevent stop
leftSpeed = 0
rightSpeed = 0

Help me please!

Today we are launching our micro project in high school (in switzerland) and we have to code a website and the thymio to make it do something. Our goal was to create a mini game and I was wondering if there was a way to send a signal to the computer when the thymio meets a certain kind of event. This way, the computer can start a chain of event according to the info such as changing an information on a website coded in html css and js (like saying the thymio has done it's task or is ready) or to make the computer turn on/off a led lightstrip.

This would allow us to make an interactive game. We want the thymio to send an information to the computer to tell when he is done. Then on the website, a special message would appear and the computer would make the led lighstrip flash. There would be another interaction, it's a cooldown "spell". When the thymio has used one of the ability, the case showing it (on the playground) would turn off, and then turn on back again when its cooldown is over.

My idea was to make a signal with aseba that is then sent to the computer, and then, the computer uses this info to change the info on the website with JS and change the led. But I don't really know if this is possible, if you can send a signal that is then used in a different language, and if you can send a signal at all.

And if internally it's impossible, my idea was to plug a certain kind of ship that then send a wifi signal to the computer. Is this possible?

Thanks a lot for your answers,

Neizo

I'm french, I would like to change Aseba in English to improve myself in English.

I didn't find a way to make that. Can you help me?

Thank you.

I am currently working on a project ; here is a short description:

Thymio starts rolling after a set period of time with the remote control and then avoids the objects they meet on his way.

I would like that the code allowing the avoidance of objects only starts once the time defined previously has elapsed.

Do you have any tips?

Thank you !

I don't succeed to write a correct program…for sending a message ( sending a variable) between two thymio's.

Has someone already tried to do that? Despite the explanations of the docs; it never succeeded. ( with prox.com.enable etc…)

Thanks for helping!

J-M

Do you know if the text codes of the preprogrammed behaviours are available anywhere ?

Thank you !

I received this mail and I prefer to answer it here:

—

I've not used event timers before in robots like these and I am not seeing how to set that up in text-based code.

we want to go forward 2 seconds, turn left, go backwards 3 seconds, then stop.

how can I code that?

—

The easiest is to code a state machine. I will go quickly now but don't hesitate to ask for more info :)

Here is the final code:

var state = STOP var counter = 0 timer.period[0] = 200 onevent timer0 if state != STOP then counter++ if state == START and counter > TIME_STRAIGHT then state = TURN motor.left.target = -SPEED motor.right.target = SPEED counter = 0 end if state == TURN and counter > TIME_TURN then state = BACK motor.left.target = -SPEED motor.right.target = -SPEED counter = 0 end if state == BACK and counter > TIME_BACK then state = STOP motor.left.target = 0 motor.right.target = 0 counter = 0 end end onevent buttons when button.forward == 1 do state = START motor.left.target = SPEED motor.right.target = SPEED end

with these constants:

<constant value="200" name="SPEED"/> <constant value="0" name="STOP"/> <constant value="1" name="START"/> <constant value="2" name="TURN"/> <constant value="3" name="BACK"/> <constant value="10" name="TIME_STRAIGHT"/> <constant value="5" name="TIME_TURN"/> <constant value="15" name="TIME_BACK"/>

(the constants are added on the top right of Aseba IDE, it's easier to change the global values like speed with that)

In two words, here is how it works:

• The state variable manages the state of the robot. It is equal to STOP, START, TURN… (it's just a value like 0, 1, 2, the essential is that you don't have two states with the same value).
• By pressing the forward button, the robot goes to START and start the motors.
• Then, in the timer0 event, it counts the time (timer = 200 ms => every time a timer0 event is triggered, 200 ms passed).
• Then, one state after the other, the robot changes its wheels speed. The constants TIME_… are used to know how much time to take for every state.

The TIME_TURN has to be adjusted regarding the rotation we want to make. The bigger it is, the longer the rotation.

I have to go now, but ask if anything is not clear :)

Best

Christophe