Created
October 12, 2011 09:52
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Lego Mindstroms Robot War: Team SoundCloud Firware for RobotC
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#pragma config(Sensor, S1, color, sensorCOLORFULL) | |
#pragma config(Sensor, S4, sonarSensor, sensorSONAR) | |
#pragma config(Motor, motorA, power, tmotorNormal, PIDControl, encoder) | |
#pragma config(Motor, motorB, right, tmotorNormal, PIDControl, reversed, encoder) | |
#pragma config(Motor, motorC, left, tmotorNormal, PIDControl, reversed, encoder) | |
//*!!Code automatically generated by 'ROBOTC' configuration wizard !!*// | |
/*--------------------------------------------------------------------------------------------------------*\ | |
|* *| | |
|* - Moving Forward - *| | |
|* ROBOTC on NXT *| | |
|* *| | |
|* This program runs your robot forward for a designated amount of time. *| | |
|* *| | |
|* ROBOT CONFIGURATION *| | |
|* NOTES: *| | |
|* 1) To change the forward movement's speed, replace the two "100"'s with the desired speed number. *| | |
|* 2) To change the duration of the movement, replace the "4000" with the desired number of *| | |
|* milliseconds. *| | |
|* *| | |
|* MOTORS & SENSORS: *| | |
|* [I/O Port] [Name] [Type] [Description] *| | |
|* Port C motorC NXT Right motor *| | |
|* Port B motorB NXT Left motor *| | |
\*---------------------------------------------------------------------------------------------------4246-*/ | |
string sColorT = "Black"; | |
string sColor = "White"; | |
int iSpeed = 40; | |
int iSpeedT = 60; | |
int iTimeT = 1400; | |
int maxTurn = 180; | |
int iSonar = 0; | |
int iSonarMin = 30; | |
int turnCount; | |
int state = 0; | |
void getSonar() { | |
iSonar = SensorValue[sonarSensor]; | |
} | |
void getColor() { | |
switch (SensorValue[color]) { | |
case BLACKCOLOR: sColor = "Black"; break; | |
case BLUECOLOR: sColor = "Blue"; break; | |
case GREENCOLOR: sColor = "Green"; break; | |
case YELLOWCOLOR: sColor = "Yellow"; break; | |
case REDCOLOR: sColor = "Red"; break; | |
case WHITECOLOR: sColor = "White"; break; | |
default: sColor = "???"; break; | |
} | |
} | |
void forward(int speed) { | |
motor[motorC] = speed; | |
motor[motorB] = speed; | |
wait1Msec(5); | |
} | |
void turn(int speed) { | |
motor[motorC] = speed; | |
motor[motorB] = -speed; | |
wait1Msec(5); | |
} | |
task main() { | |
while (true) { | |
getSonar(); | |
nxtDisplayCenteredTextLine(1, "%i", iSonar); | |
nxtDisplayCenteredTextLine(2, sColor); | |
switch (state) { | |
case 0: | |
forward(iSpeed); | |
getColor(); | |
if (sColor == sColorT) { | |
state = 1; //turn | |
turnCount = 0; | |
} | |
break; | |
case 1: | |
turn(iSpeedT); | |
turnCount += 1; | |
if(turnCount > maxTurn ) { | |
state = 2; //STOP turing | |
} | |
break; | |
case 2: | |
int speed = (iSonar < iSonarMin) ? 100 : iSpeed; | |
if (iSonar < iSonarMin) { | |
motor[motorA] = -speed; | |
} | |
forward(speed); | |
getColor(); | |
if (sColor == sColorT) { | |
state = 1; //turn | |
turnCount = 0; | |
} | |
break; | |
} | |
} | |
} |
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