 | Code: #pragma config(Sensor, S1, S1, sensorTouch)
#pragma config(Sensor, S2, S2, sensorTouch)
#pragma config(Sensor, S4, S4, sensorLightActive)
#pragma config(Motor, motorA, motorA, tmotorNormal, PIDControl, encoder)
#pragma config(Motor, motorB, motorB, tmotorNormal, PIDControl, encoder)
#pragma config(Motor, motorC, motorC, tmotorNormal, PIDControl, encoder)
//*!!Code automatically generated by 'ROBOTC' configuration wizard !!*//
const int SENSOR_ERR = 5; //Constant for the error range acceptable from the sensor
bool isAround(int sensorVal, int arrayVal){ // function to determine if the sensor value is around the given array value
return abs(sensorVal - arrayVal) < SENSOR_ERR;
}
void movements1(){ //code if the light sensor recognizes a value of colorArr[0]
motor[motorA] = 0; //Motor A is stopped
motor[motorB] = 0; //Motor B is stopped
motor[motorC] = 0; //Motor C is stopped
}
void movements2(){ //if the light sensor recognizes a value of colorArr[1]
if (SensorValue[S1]==1){ //if Sensor Touch S1 is pressed these movements
bMotorFlippedMode[motorB] = 0; //Motor B forward direction
motor[motorB] = 40; //Motor B power 40
while(nMotorEncoder[motorB] < 50); //Motor B 50 degrees target
motor[motorB] = 0; //Motor B is stopped
bMotorFlippedMode[motorA] = 0; //Motor A forward direction
motor[motorA] = 20; //Motor A power 20
while(nMotorEncoder[motorA] < 90); //Motor A 90 degrees target
motor[motorA] = 0; //Motor A is stopped
wait1Msec(2000); //Wait 2 sec
bMotorFlippedMode[motorA] = 1; //Motor A reverse direction
motor[motorA] = 10; //Motor A power 10
while(nMotorEncoder[motorA] < 0); //Motor A 0 degrees target
motor[motorA] = 0; //Motor A is stopped
bMotorFlippedMode[motorB] = 1; //Motor B reverse direction
motor[motorB] = 20; //Motor B power 20
bMotorFlippedMode[motorB] = 0; //Motor B forward direction
while(nMotorEncoder[motorB] > 0); //Motor B 0 degrees target
motor[motorB] = 0; //Motor B is stopped
}
}
void movements3(){ //if the light sensor recognizes a value of colorArr[2]
if (SensorValue[S2]==1){ //if Sensor Touch S2 is pressed these movements
bMotorFlippedMode[motorB] = 1; //Motor B reverse direction
motor[motorB] = 40; //Motor B power 40
while(nMotorEncoder[motorB] < 50); //Motor B 50 degrees target
motor[motorB] = 0; //Motor B is stopped
bMotorFlippedMode[motorA] = 0; //Motor A forward direction
motor[motorA] = 20; //Motor A power 20
while(nMotorEncoder[motorA] < 90); //Motor A 90 degrees target
motor[motorA] = 0; //Motor A is stopped
wait1Msec(3000); //Wait 3 sec
bMotorFlippedMode[motorC] = 0; //Motor C forward direction
motor[motorC] = 20; //Motor C power 20
while(nMotorEncoder[motorC] < 95); //Motor A 95 degrees target
motor[motorC] = 0; //Motor C is stopped
wait1Msec(1000); //Wait 1 sec
bMotorFlippedMode[motorC] = 1; //Motor C reverse direction
motor[motorC] = 20; //Motor C power 20
while(nMotorEncoder[motorC] < 0); //Motor C 0 degrees target
motor[motorC] = 0; //Motor C is stopped
bMotorFlippedMode[motorA] = 1; //Motor A reverse direction
motor[motorA] = 10; //Motor A power 10
while(nMotorEncoder[motorA] < 0); //Motor A 0 degrees target
motor[motorA] = 0; //Motor A is stopped
bMotorFlippedMode[motorB] = 0; //Motor B forward direction
motor[motorB] = 20; //Motor B power 20
bMotorFlippedMode[motorB] = 1; //Motor B reverse direction
while(nMotorEncoder[motorB] > 0); //Motor B 0 degrees target
motor[motorB] = 0; //Motor B is stopped
}
}
void movements4(){ //if the light sensor recognizes a value of colorArr[3]
bMotorFlippedMode[motorA] = 0; //Motor A forward direction
motor[motorA] = 20; //Motor A power 20
while(nMotorEncoder[motorA] < 90); //Motor A 90 degrees target
motor[motorA] = 0; //Motor A is stopped
wait1Msec(2000); //Wait 2 sec
bMotorFlippedMode[motorA] = 1; //Motor A reverse direction
motor[motorA] = 10; //Motor A is stopped
while(nMotorEncoder[motorA] < 0); //Motor A 0 degrees target
motor[motorA] = 0; //Motor A is stopped
}
task main() //Here start the main program
{
int msgSize;
byte msg[58];
nxtDisplayTextLine(0, " Calibration"); //Displaying text "Calibration"
nxtDisplayTextLine(2, "Press the orange"); //Displaying text "Press the orange"
nxtDisplayTextLine(3, "button on the NXT"); //Displaying text "button on the NXT"
nxtDisplayTextLine(4, "to set the values"); //Displaying text "to set the values"
while(nNxtButtonPressed == -1); //take control over the NXT buttons
while(nNxtButtonPressed == 3); //press button 3 (the orange button)
eraseDisplay(); //Erase the Display
int colorArr[4]; //Create and initialize variable colorArr with 4 values
colorArr[0] = 0; //Firs value on colorArr
colorArr[1] = 0; //Second value on colorArr
colorArr[2] = 0; //Third value on colorArr
colorArr[3] = 0; //Fourth value on colorArr
nxtDisplayTextLine(0, " Calibration"); //Displaying text "Calibration"
nxtDisplayTextLine(2, "Press the orange"); //Displaying text "Press the orange"
nxtDisplayTextLine(3, "button on the NXT"); //Displaying text "button on the NXT"
nxtDisplayTextLine(4, "to set the value"); //Displaying text "to set the values"
nxtDisplayTextLine(5, "when there is"); //Displaying text "when there is"
nxtDisplayTextLine(6, "nothing"); //Displaying text "nothing"
while(nNxtButtonPressed == -1); //take control over the NXT buttons
while(nNxtButtonPressed == 3); //press button 3 (the orange button)
colorArr[0] = SensorValue[S4]; //when we press the orange button we set value of colorArr[0] from the Light Sensor S4
eraseDisplay(); //Erase the Display
nxtDisplayTextLine(0, " Calibration"); //Displaying text "Calibration"
nxtDisplayTextLine(2, "Press the orange"); //Displaying text "Press the orange"
nxtDisplayTextLine(3, "button on the NXT"); //Displaying text "button on the NXT"
nxtDisplayTextLine(4, "to set the value"); //Displaying text "to set the value"
nxtDisplayTextLine(5, "of the first"); //Displaying text "of the first"
nxtDisplayTextLine(6, "color"); //Displaying text "color"
while(nNxtButtonPressed == -1); //take control over the NXT buttons
while(nNxtButtonPressed == 3); //press button 3 (the orange button)
colorArr[1] = SensorValue[S4]; //when we press the orange button we set value of colorArr[1] from the Light Sensor S4
eraseDisplay(); //Erase the Display
nxtDisplayTextLine(0, " Calibration"); //Displaying text "Calibration"
nxtDisplayTextLine(2, "Press the orange"); //Displaying text "Press the orange"
nxtDisplayTextLine(3, "button on the NXT"); //Displaying text "button on the NXT"
nxtDisplayTextLine(4, "to set the value"); //Displaying text "to set the value"
nxtDisplayTextLine(5, "of the second"); //Displaying text "of the second"
nxtDisplayTextLine(6, "color"); //Displaying text "color"
while(nNxtButtonPressed == -1); //take control over the NXT buttons
while(nNxtButtonPressed == 3); //press button 3 (the orange button)
colorArr[2] = SensorValue[S4]; //when we press the orange button we set value of colorArr[2] from the Light Sensor S4
eraseDisplay(); //Erase the Display
nxtDisplayTextLine(0, " Calibration"); //Displaying text "Calibration"
nxtDisplayTextLine(2, "Press the orange"); //Displaying text "Press the orange"
nxtDisplayTextLine(3, "button on the NXT"); //Displaying text "button on the NXT"
nxtDisplayTextLine(4, "to set the value"); //Displaying text "to set the value"
nxtDisplayTextLine(5, "of the third"); //Displaying text "of the third"
nxtDisplayTextLine(6, "color"); //Displaying text "color"
while(nNxtButtonPressed == -1); //take control over the NXT buttons
while(nNxtButtonPressed == 3); //press button 3 (the orange button)
colorArr[3] = SensorValue[S4]; //when we press the orange button we set value of colorArr[3] from the Light Sensor S4
eraseDisplay(); //Erase the Display
string s; //make string s
sprintf(s, "%d %d %d %d", colorArr[0], colorArr[1], colorArr[2], colorArr[3]); //remember the Value of colorArr[0], Value of colorArr[1], Value of colorArr[2], Value of colorArr[3]
nxtDisplayTextLine(2, " Now"); //Displaying text "Now"
nxtDisplayTextLine(3, " Robot Sorter"); //Displaying text "Robot Sorter"
nxtDisplayTextLine(4, " wait for"); //Displaying text "wait for"
nxtDisplayTextLine(5, " details..."); //Displaying text "details..."
nxtDisplayTextLine(6, s); //Displaying text "Value of colorArr[0], Value of colorArr[1], Value of colorArr[2], Value of colorArr[3]"
while(nNxtButtonPressed == -1); //take control over the NXT buttons
while(nNxtButtonPressed == 3); //press button 3 (the orange button)
eraseDisplay(); //Erase the Display
while(nNxtButtonPressed == -1){ //take control over the NXT buttons
int sensor = SensorValue[S4]; //Create and initialize variable sensor = SensorValue[S4]
sprintf(s, "Sensor: %d", sensor); //remember the Value of SensorValue[S4]
nxtDisplayTextLine(2, s); //Displaying text "Value of SensorValue[S4]"
int color = -1; //Create and initialize variable color = -1
for(int i = 0; i < 4; i++){ //a for loop that goes from 0 - 3
if(isAround(sensor, colorArr[i])) //check if the sensor value is around the value of colorArr[i]
color = i; //initialize color az i
}
sprintf(s, "Color: %d", color); //remember the values of string "color"
nxtDisplayTextLine(3, s); //Displaying text value of the detail which is there
if (color >= 0){ //Decide which of the functions to execute
switch(color){
switch (cCmdBTCheckStatus(0))
{
case 0 :
movements1();
break;
case 1 :
movements2();
break;
case 2 :
movements3();
break;
case 3 :
movements4();
break;
case(ioRsltSuccess):
// connected;
nxtDisplayTextLine(2," Connected");
// check for msg in mailbox1;
msgSize=cCmdMessageGetSize(mailbox1);
if(msgSize>0)
{
cCmdMessageRead(msg, msgSize, mailbox1);
[color=#FF0000] if(msg[0]==115 && msg[1]==116 && msg[2]==111 && msg[3]==112)[/color] //////////////////////// <- ASCII values of (stop)
{
StopAllTasks();
}
}
break;
case(ioRsltCommChannelNotReady):
// not connected;
nxtDisplayTextLine(2,"Disconnected");
break;
default:
default : break;
}
}
}
{
while (true)
{
nxtDisplayTextLine(1, "%3d, %3d",cCmdBTCheckStatus(0));
// check for a BT connection
{
// Other condition;
nxtDisplayTextLine(2, "%3d, %3d",cCmdBTCheckStatus(0));
break;
}
wait1Msec(10);
}
}
}
| |
I think that the problem may be that your program is way too long or complicated. I'm not entirely sure what you're trying to program it to do, but I'm thinking that you managed to completely confuse me, a veteran programmer! 
You should try to simplify it if possible, and check for spelling errors in the programming. That may help a lot!
