Hey,

I am working on a project and I am used ROBOTC to program my NXT robot.

For this program I need to use the light senor to locate and go to the candle but I am having trouble getting it to work.

What I need for it to do is check for light and if it finds a strong enough light source to go to the source and just quit the entire program if it does not find a strong enough light source it needs to break out and back into the main function so it can continue on to the next room.

I have the light sensor attached to the robot almost like an arm pointing straight out infront.

If you have any ideas please let me know thanks!!


#pragma config(Sensor, S1, light, sensorLightInactive)
#pragma config(Sensor, S4, Sonar, sensorSONAR)
#pragma config(Motor, motorB, RightWheel, tmotorNormal, PIDControl, encoder)
#pragma config(Motor, motorC, LeftWheel, tmotorNormal, PIDControl, encoder)
//*!!Code automatically generated by 'ROBOTC' configuration wizard !!*//

void checkLight();

task main ()
{
nMotorPIDSpeedCtrl[motorC] = mtrSpeedReg;
nMotorPIDSpeedCtrl[motorB] = mtrSpeedReg;

motor[motorC] = 100;
motor[motorB] = 100;
wait1Msec(1000);

checkLight();

motor[motorC] = 100;
motor[motorB] = 100;
wait1Msec(5000);

}

void checkLight()
{
if (SensorValue(light) > 60)
{
while (SensorValue(Sonar) > 15 )
{
motor[motorC] = 25;
motor[motorB] = 25;
}
}

else
motor[motorC] = -25;
motor[motorB] = 50;
return;
}