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@JamesSwift
Created November 15, 2013 22:37
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NQC Code to alow a Lego RCX brick to stand on two wheels. I place this code in the public domain. No rights reserved.
#define FULL_POWER_OFFSET 3
task main()
{
SetSensor(SENSOR_2,SENSOR_LIGHT);
int last_reading=SENSOR_2;
//start adjust_power;
SetPower(OUT_A+OUT_C,7);
while (true) {
if (SENSOR_2 > last_reading){
OnFwd(OUT_A+OUT_C);
Wait(0);
if (SENSOR_2-last_reading>FULL_POWER_OFFSET){
//OnFwd(OUT_A+OUT_C);
until(SENSOR_2<=last_reading+FULL_POWER_OFFSET);
OnRev(OUT_C+OUT_A);
Wait(0);
Off(OUT_A+OUT_C);
}
Off(OUT_A+OUT_C);
Wait(0);
}
if (SENSOR_2 < last_reading){
OnRev(OUT_C+OUT_A);
Wait(0);
if (last_reading-SENSOR_2>FULL_POWER_OFFSET){
//OnRev(OUT_C+OUT_A);
until(SENSOR_2>=last_reading-FULL_POWER_OFFSET);
OnFwd(OUT_C+OUT_A);
Wait(0);
Off(OUT_A+OUT_C);
}
Off(OUT_A+OUT_C);
Wait(0);
}
}
}
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