complete trip (climb 4 steps, turn 180°, descend the same
4 steps) took 4 minutes and 13 seconds. A few seconds
could probably have been saved with fresh batteries...
stairs dimensions are:
Ptitgneugneu was no trivial task, as sensors and motors are
distributed among the two RCX that need to cooperate.
The "Master RCX" controls the three propulsion
motors, reads the two light sensors for bars positioning and
the middle module ground detector. The "Slave RCX"
drives the two lifting motors and the steering motor. Its inputs
comes from front and rear bars ground detectors, and from steering
The program was written in .
Get the Master RCX program,
and the Slave RCX program.
(AVI movies, Divx
of the complete trip.... This is a 5x accelerated
movie to keep file size down (1Mb).
For those really bored but having a broadband
access, here is the real-time
Note that a few seconds are missing at T=3mn,
because the camera I used can't record more in one