 | Code: #pragma config(Hubs, S1, HTMotor, HTMotor, HTMotor, HTServo)
#pragma config(Hubs, S3, HTMotor, none, none, none)
#pragma config(Sensor, S1, , sensorI2CMuxController)
#pragma config(Sensor, S2, SEEKER, sensorHiTechnicIRSeeker1200)
#pragma config(Sensor, S3, , sensorI2CMuxController)
#pragma config(Motor, motorA, leftnxt, tmotorNXT, openLoop)
#pragma config(Motor, motorB, rightnxt, tmotorNXT, openLoop)
#pragma config(Motor, motorC, , tmotorNXT, openLoop)
#pragma config(Motor, mtr_S1_C1_1, left, tmotorTetrix, openLoop)
#pragma config(Motor, mtr_S1_C1_2, left2, tmotorTetrix, openLoop)
#pragma config(Motor, mtr_S1_C2_1, right, tmotorTetrix, openLoop, reversed)
#pragma config(Motor, mtr_S1_C2_2, right2, tmotorTetrix, openLoop, reversed)
#pragma config(Motor, mtr_S1_C3_1, arm, tmotorTetrix, openLoop)
#pragma config(Motor, mtr_S1_C3_2, linear, tmotorTetrix, openLoop)
#pragma config(Motor, mtr_S3_C1_1, light, tmotorTetrix, openLoop)
#pragma config(Motor, mtr_S3_C1_2, motorK, tmotorTetrix, openLoop)
#pragma config(Servo, srvo_S1_C4_1, tilt, tServoStandard)
#pragma config(Servo, srvo_S1_C4_2, servo2, tServoNone)
#pragma config(Servo, srvo_S1_C4_3, servo3, tServoNone)
#pragma config(Servo, srvo_S1_C4_4, servo4, tServoNone)
#pragma config(Servo, srvo_S1_C4_5, servo5, tServoNone)
#pragma config(Servo, srvo_S1_C4_6, servo6, tServoNone)
#pragma config(SrvoPosition, Position01, 131, 128, 128, 128, 128, 226, 128, 128)
//*!!Code automatically generated by 'ROBOTC' configuration wizard !!*//
#include "JoystickDriver.c"
task main()
{
while (1 == 1)
{
getJoystickSettings(joystick);
if (joystick.joy2_y2 < 10 && joystick.joy2_y2 > -10) /* Makes left side wheels move in tandem and same speed */
{ // Makes motors = joystick move
// but if at 10 or negative 10 stop
motor[right] = 0;
motor[right2] = 0; // just states if joystick = 10 or -10 motor = 0
}
else
{
motor[right] = joystick.joy2_y2;
motor[right2] = joystick.joy2_y2; // if it is above 10 or -10 then the motor power = the joystick.
}
if (joystick.joy2_y1 < 10 && joystick.joy2_y1 > -10) /* Makes left side wheels move in tandem and same speed */
{ // Makes motors = joystick move
// but if at 10 or negative 10 stop
motor[left] = 0;
motor[left2] = 0; // joystick if 10 or -10 = motor power = 0
}
else
{
motor[left] = joystick.joy2_y1; // if it is above 10 or -10 then the motor power = the joystick.
motor[left2] = joystick.joy2_y1;
}
while (joy2Btn(6) == 1 )
{
motor[right] = joystick.joy2_y2/3;
motor[right2] = joystick.joy2_y2/3;
motor[left] = joystick.joy2_y1/3;
motor[left2] = joystick.joy2_y1/3;
}
if (joystick.joy1_y1 < 5 && joystick.joy1_y1 > -5) //motor = 0 if at 5 or -5
{
motor[arm] = 0;
}
else
{
motor[arm] = joystick.joy1_y1/3;
}
{
if(joy1Btn(1) == 1) // If Joy1-Button2 is pressed:
{
motor[arm] = -4; // ring is Grabbed
// Can use the debugger to help find these positions
}
// Infinite loop:
{
if(joy1Btn(9) == 1) // If Joy1-Button2 is pressed:
{
servo[tilt] = 45; // ring is Grabbed
// Can use the debugger to help find these positions
}
{
if(joy1Btn(4) == 1) // If Joy1-Button2 is pressed:
{
servo[tilt] = 1; // ring is Grabbed
// Can use the debugger to help find these positions
}
{
if(joy1Btn(2) == 1) // If Joy1-Button2 is pressed:
{
servo[tilt] = 217; // ring is Grabbed
// Can use the debugger to help find these positions
}
{
if(joy1Btn(3) == 1) // Open position us Joy1btn 3
// if button 3 is pressed
{
servo[tilt] = 95;
}
}
if(joy1Btn(7) == 1) // If Joy1-Button7is pressed:
{
motor[linear] = -100; // Turn Motor linear at full power
}
else // If Joy1-Button7 is NOT pressed:
{
motor[linear] = 0; // Turn linear Off
}
if(joy1Btn(7))
{
motor[linear] = -100; // linear is run at a power level of -100. arm down
wait1Msec(100);
}
if(joy1Btn(5) == 1) // If Joy1-Button7is pressed:
{
motor[linear] = -25; // Turn Motor linear at full power
}
else // If Joy1-Button7 is NOT pressed:
{
motor[linear] = 0; // Turn linear Off
}
if(joy1Btn(5))
{
motor[linear] = -25; // linear is run at a power level of -100. arm down
wait1Msec(100);
}
if(joy1Btn(6) == 1) // If Joy1-Button7is pressed:
{
motor[linear] = 25; // Turn Motor linear at full power
}
else // If Joy1-Button7 is NOT pressed:
{
motor[linear] = 0; // Turn linear Off
}
if(joy1Btn(6))
{
motor[linear] = 25; // linear is run at a power level of -100. arm down
wait1Msec(100);
}
if(joy1Btn(8) == 1) // If Joy1-Button8 is pressed:
{
motor[linear] = 100; // Turn Motor linear On at full power
}
else // If Joy1-Button8 is NOT pressed:
{
motor[linear] = 0; // Turn linear Off
}
if(joy1Btn(8))
{
motor[linear] = 100; // linear is run at a power level of 100.
wait1Msec(100);
}
if(joy2Btn(5) == 1) // If Joy1-Button8 is pressed:
{
int count = 0;
while(count < 10)
{
motor[light] = 100; // linear is run at a power level of 100.
wait1Msec(250);
motor[light] = 0; // linear is run at a power level of 100.
wait1Msec(250);
count = count + 1;
}
}
}}}}}} | |
