7.7
#lang rokit-racket
This language allows you to code the Rokit SmartInventor 2 robotics kit from Robolink (robolink.com).
We use this in robotics classes at ThoughtSTEM.
This doc just contains a bunch of example code.
1 Basic Movement
| #lang rokit-racket |
| |
| (define (wait) |
| (delay 5000)) |
| |
| (define (setup) |
| (enable-motors)) |
| |
| (define (loop) |
| (move forward 127) |
| (wait) |
| (move stop 127) |
| (wait)) |
2 Remote Control
| #lang rokit-racket |
| |
| (define (setup) |
| (enable-motors) |
| (enable-remote) |
| |
| (buzz NOTE_C4 8) |
| (buzz NOTE_E4 8) |
| (buzz NOTE_G4 8)) |
| |
| (define (boost) |
| (move forward 127) |
| (delay 1000)) |
| |
| (define (spin180) |
| (motor M1 CW 127) |
| (motor M2 CW 127) |
| (delay 650) |
| (move stop 0) |
| (delay 200)) |
| |
| (define (zig-zag) |
| (repeat 2 |
| (motor M1 CCW 127) |
| (motor M2 STOP 0) |
| (delay 400) |
| (motor M1 STOP 0) |
| (motor M2 CW 127) |
| (delay 400))) |
| |
| (define (loop) |
| (cond |
| [(= (read-remote) KEY_U) |
| (move forward 50)] |
| [(= (read-remote) KEY_D) |
| (move backward 50)] |
| [(= (read-remote) KEY_L) |
| (move left 50)] |
| [(= (read-remote) KEY_R) |
| (move right 50)] |
| [(= (read-remote) KEY_C) |
| (boost)] |
| [(= (read-remote) KEY_F1) |
| (spin180)] |
| [(= (read-remote) KEY_F2) |
| (zig-zag)] |
| [else |
| (move loose 50)])) |
| |
3 Analog Read
| #lang rokit-racket |
| |
| (define left-sensor 0) |
| (define center-sensor 0) |
| (define right-sensor 0) |
| |
| (define (setup) |
| (enable-motors)) |
| |
| (define (loop) |
| (set! left-sensor (analog-read 19)) |
| (set! center-sensor (analog-read 20)) |
| (set! right-sensor (analog-read 21)) |
| |
| (cond |
| [(< left-sensor 500) (move right 50)] |
| [(< right-sensor 500) (move left 50)] |
| [(< center-sensor 500) (move left 50)] |
| [else (move forward 50)])) |
4 Digital Write
| #lang rokit-racket |
| |
| (define (setup) |
| (enable-motors) |
| |
| (pin-mode 13 OUTPUT) |
| (pin-mode 14 OUTPUT) |
| (pin-mode 15 OUTPUT) |
| (pin-mode 16 OUTPUT) |
| (enable-remote) |
| |
| (digital-write 13 HIGH) |
| (digital-write 14 HIGH) |
| (digital-write 15 HIGH) |
| (digital-write 16 HIGH)) |
| |
| (define (loop)) |
5 Line follow
| #lang rokit-racket |
| |
| (define left-line-sensor #f) |
| (define right-line-sensor #t) |
| |
| (define (setup) |
| (enable-motors) |
| |
| (pin-mode 13 INPUT) |
| (pin-mode 16 INPUT)) |
| |
| (define (loop) |
| (set! left-line-sensor (digital-read 13)) |
| (set! right-line-sensor (digital-read 16)) |
| |
| (while (= left-line-sensor HIGH) |
| (motor M1 CCW 50) |
| (motor M2 STOP 0) |
| (set! left-line-sensor (digital-read 13))) |
| |
| (while (= right-line-sensor HIGH) |
| (motor M1 STOP 0) |
| (motor M2 CW 50) |
| (set! right-line-sensor (digital-read 16)))) |
6 Digital Read
| #lang rokit-racket |
| |
| (define left-sensor #f) |
| (define right-sensor #f) |
| |
| (define (setup) |
| (enable-motors) |
| (pin-mode 11 INPUT) |
| (pin-mode 18 INPUT)) |
| |
| (define (backup-and-turn-right) |
| (motor M1 CW 50) |
| (motor M2 CCW 50) |
| (delay 333) |
| (motor M1 CCW 50) |
| (motor M2 CCW 50) |
| (delay 333)) |
| |
| (define (backup-and-turn-left) |
| (motor M1 CW 50) |
| (motor M2 CCW 50) |
| (delay 333) |
| (motor M1 CW 50) |
| (motor M2 CW 50) |
| (delay 333)) |
| |
| (define (go-forward) |
| (motor M1 CCW 50) |
| (motor M2 CW 50)) |
| |
| (define (loop) |
| (set! left-sensor (digital-read 11)) |
| (set! right-sensor (digital-read 18)) |
| |
| (cond |
| [(= left-sensor #f) (backup-and-turn-right)] |
| [(= right-sensor #f) (backup-and-turn-left)] |
| [else (go-forward)])) |