Manual

Copyright © Dr Robot Inc. 2008
47
Get the ID of Constellation transponder that the robot is using. The distance
measurement that is obtained with getGPS03( ) function is from the LEFT receiver module,
and distance measurement that is obtained with getGPS07( ) function is from the RIGHT
receiver module.
Syntax: ival = getSenID3( )
Parameter: void
Return value: byte ival
VI.13. byte getSenID4 ( )
Description:
Get the ID of Constellation transponder that the robot is using. The distance
measurement that is obtained with getGPS04( ) function is from the LEFT receiver module,
and distance measurement that is obtained with getGPS08( ) function is from the RIGHT
receiver module.
Syntax: ival = getSenID4( )
Parameter: void
Return value: byte ival
VI.14. Example of using the Constellation system
Here is the example for calculation the robot position based on the distance measurement
from the Constellation system.
Step 1:
Set the transponder ID to 1,2,3,4:
setGPSID(1,2,3,4);
Step 2:
Get the distance in the custom sensor event.
//First the program should confirm the transponder ID is right.
ID1 = getSneID1( );
ID2 = getSneID2( );
ID3 = getSneID3( );
ID4 = getSneID4( );
//then get the distance unit :mm
If ( ID1 = 1 ) and ( ID2 = 2 ) or ( ID3 = 3 ) or ( ID4 = 4 ) {
//get distance here
Dis_ID1_L = getGPS01 ( );
Dis_ID2_L = getGPS02 ( );
Dis_ID3_L = getGPS03 ( );
Dis_ID4_L = getGPS04 ( );
Dis_ID1_R = getGPS05 ( );