Code: #pragma config(Hubs, S1, HTMotor, HTServo, none, none) #pragma config(Sensor, S3, Light, sensorLightActive) #pragma config(Sensor, S4, Sonar, sensorSONAR) #pragma config(Motor, motorB, , tmotorNormal, PIDControl, reversed) #pragma config(Motor, mtr_S1_C1_1, motorD, tmotorNormal, openLoop) #pragma config(Motor, mtr_S1_C1_2, motorE, tmotorNormal, openLoop) //*!!Code automatically generated by 'ROBOTC' configuration wizard !!*//
int autotimer; int mode2; int mode3;
#include "JoystickDriver.c"
task main()
{ autotimer = 0; mode2 = 1; mode3 = 1;
while (autotimer < 300) {
if (mode2 == 1) { if (SensorValue(Sonar) < 30) { mode2 = 2; } } if (mode2 == 1) { motor[motorD] = 100; motor[motorE] = 100; } if (mode2 == 2) { motor[motorD] = 75; motor[motorE] = - 75; wait10Msec (85); mode2 = 3; autotimer = autotimer + 10; } if (mode2 == 3) { motor[motorD] = 100; motor[motorE] = 100; if (SensorValue(Light) < 25) { wait10Msec (300); motor[motorD] = 75; motor[motorE] = - 75; wait10Msec (85); autotimer = autotimer + 40; motor[motorD] = 100; motor[motorE] = 100; wait10Msec (100); autotimer = autotimer + 10; if (SensorValue(Sonar) < 5); { mode3 = 2; } } } if (mode2 == 3 && mode3 == 2) { motor[motorD] = 0; motor[motorE] = 0; motor[motorA] = 100; wait10Msec (100); motor[motorA] = -100; motor[motorA] = 0; autotimer = 300; } wait10Msec (9); ++autotimer; }
while(true) { while (true) { getJoystickSettings(joystick); motor[motorD] = joystick.joy1_y1; motor[motorE] = joystick.joy2_y1;
if(joy1Btn(1)) { motor[motorA] = 128; } else { motor[motorA] = ~ 128; motor[motorA] = 0; } if(joy2Btn(1)) { motor[motorB] = 100; } else { motor[motorB] = 0; } } } } |