Code: #pragma config(Hubs, S1, HTMotor, HTServo, none, none) #pragma config(Sensor, S1, , sensorI2CMuxController) #pragma config(Servo, srvo_S1_C2_1, servo1, tServoStandard) #pragma config(Servo, srvo_S1_C2_2, servo2, tServoStandard) #pragma config(Servo, srvo_S1_C2_3, servo3, tServoStandard) #pragma config(Servo, srvo_S1_C2_4, servo4, tServoStandard) #pragma config(Servo, srvo_S1_C2_5, servo5, tServoStandard) #pragma config(Servo, srvo_S1_C2_6, servo6, tServoStandard) //*!!Code automatically generated by 'ROBOTC' configuration wizard !!*//
void initializeRobot(); void rechtsaussen(); void rechtsmitte(); void rechtsinnen();
void linksaussen(); void linksmitte(); void linksinnen(); /**************************************************/ void initializeRobot() {
servo[servo1] = 130; // Startpostion servo[servo2] = 60; // Startpostion servo[servo3] = 80; // Startpostion servo[servo4] = 80; // Startpostion servo[servo5] = 60; // Startpostion servo[servo6] = 130; // Startpostion
wait1Msec(1000); // warten return; } /**************************************************/ void rechtsaussen() { int delta = 3; servoChangeRate[servo1] = delta; servo[servo1] = 130;
} /**************************************************/ void rechtsmitte() { int delta = 3; servoChangeRate[servo2] = delta; servo[servo2] = 60;
} /**************************************************/ void rechtsinnen() { int delta = 3; servoChangeRate[servo3] = delta; servo[servo3] = 80;
} /**************************************************/
/**************************************************/ void linksaussen() { int delta = 3; servoChangeRate[servo6] = delta; servo[servo6] = 130;
} /**************************************************/ void linksmitte() { int delta = 3; servoChangeRate[servo5] = delta; servo[servo5] = 60;
} /**************************************************/ void linksinnen() { int delta = 3; servoChangeRate[servo4] = delta; servo[servo4] = 80;
} /**************************************************/
task main() {
initializeRobot(); wait1Msec(100); rechtsinnen(); wait1Msec(100); rechtsmitte(); wait1Msec(100); rechtsaussen(); wait1Msec(100);
linksaussen(); wait1Msec(100); linksmitte(); wait1Msec(100); linksinnen(); wait1Msec(100);
}
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