Defining time on Ev3 Robot in matlab

Hi

Im using Matlab to make an Lego Ev3 unit, with help of a light sensor,go forward until the light value changes. After the value changes i want the Ev3 to go backwards during 2 sec. Ive managed to make it stop and go back, but im at a loss how to make it go back during this 2 seconds of time before turning and continuing.

this is my code so far:

if Lys (k) > 10

PowerB (k) = 20;

Powerc (k) = 20;

else Lys (k) >1

PowerB (k) = -20;

PowerC (k) = -20;

light values are from my livingroom table.

Answer 1

[Sebastian Castro]

If you're using the MATLAB - LEGO interface, then you're not really deploying any code, right? If so, then I would recommend using the tic and toc functions.

• https://www.mathworks.com/help/matlab/ref/tic.html
• https://www.mathworks.com/help/matlab/ref/toc.html

Your code would look something like

tic;
while (toc < 2)
  % Do stuff
  % Optionally, pause if you don't want to spam as fast as possible
  pause(0.1)
end

If you have Robotics System Toolbox, you can get more advanced with the sample rates using Robotics.Rate.

r = robotics.Rate(10); % 10 Hz
while (r.TotalElapsedTime < 2)
  % Do stuff
  waitfor(r);
end

- Sebastian