If-Else, Ultrasonic & Bumper

emwbjr · Tue Apr 27, 2010 6:14 pm

I've attempted to program my robot to have the servos move back and forth based on certain conditions. I wanted them to begin moving when the Ultrasonic sensor detected something less than 12in away. And if it detected nothing, the servos wouldn't move. The second If-Else statement was to make the servos move if the bumper is pressed. The problem may be with the "//...//" notes, not sure. The servos seem to move automatically, regardless of the stimulus, and the button doesn't seem to make anything happen yet. My code is as follows, slightly shortened:


	Code: #pragma config(Sensor, in5, sensorSonar, sensorSONAR, int2) #pragma config(Sensor, in6, Button, sensorTouch) //!!Code automatically generated by 'ROBOTC' configuration wizard !!// task main () { if(SensorValue(sensorSonar) < 12) //If something is detected less than 12inches away...// { bMotorReflected[port3]= 1; motor[port2]= -50; // This simply makes the left side of the jaw move // motor[port3]= -50; // This makes the right side of the jaw move // wait1Msec (200); // Time before the mouth to move back up // motor[port2]= 45; motor[port3]= 45; wait1Msec (200); // Time before the mouth moves back down // motor[port2]= -50; motor[port3]= -50; wait1Msec (200); motor[port2]= 45; motor[port3]= 45; wait1Msec (200); } //Ends true if statement for sonar// else { motor[port2]= 0; motor[port3]= 0; } //Ends the fasle esle statement// if(SensorValue(Button)==1) //If the bumper is pressed...// { motor[port2]= -50; motor[port3]= -50; wait1Msec (200); motor[port2]= 45; motor[port3]= 45; wait1Msec (200); motor[port2]= -50; motor[port3]= -50; wait1Msec (200); motor[port2]= 45; motor[port3]= 45; wait1Msec (200); } else //If the button isn't pressed, the mouth won't move// { motor[port2]= 0; motor[port3]= 0; } }

If-Else, Ultrasonic & Bumper

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