SumoBot Code

Arduino

#include <Scout.h>
#include <SPI.h>
#include <Wire.h>
#include <Scout.h>
#include <GS.h>
#include <bitlash.h>
#include <lwm.h>
#include <js0n.h>
#include <NESpad.h>


#define HALT 0
#define FORWARD 2
#define BACKWARD 1
#define LEFT 3
#define RIGHT 4

NESpad nintendo = NESpad(3,4,5,6);
byte state1 = 0;
byte state2 = 0;
int lastMessages[12];
 
void setup() {
  Scout.setup("SoccerBots");
  Scout.setMode(3, OUTPUT);
  Scout.setMode(4,  OUTPUT);
  Scout.setMode(5, INPUT);
  Scout.setMode(6, INPUT);  
}

void tellScout( int scoutId, int command ) {
  char buffer[128];
  if ( lastMessages[ scoutId ] != command ) {
    sprintf( buffer, "message.scout(%d,\"%d\");", scoutId, command );
    doCommand( buffer );
    Serial.println( buffer );
    lastMessages[ scoutId ] = command;
  }
}


void handleState( byte state, int scoutId ) {
  if ( state & NES_A )
    tellScout( scoutId, HALT );
  if ( state & NES_B )
    tellScout( scoutId, HALT );
  if ( state & NES_UP )
      tellScout( scoutId, FORWARD );
  if ( state & NES_DOWN )
      tellScout( scoutId, BACKWARD );  
  if ( state & NES_LEFT )
      tellScout( scoutId, LEFT );
  if ( state & NES_RIGHT )
      tellScout( scoutId, RIGHT );
}
  
void loop() {
  
  nintendo.buttons();
  
  state1 = nintendo.buttons1;
  state2 = nintendo.buttons2;  
 
  handleState( state1, 2 ); 
  handleState( state2, 6 );  
 
  
  Scout.loop();
}

ScoutScript

function startup { timer3.initialize(20000); s = 89; };
function forward { timer3.pwm(3,180); timer3.pwm(4,1); };
function halt { timer3.pwm(3,90); timer3.pwm(4,90); };
function backward { timer3.pwm(3,1); timer3.pwm(4,180); };
function right { timer3.pwm(3,180); timer3.pwm(4,180); };
function left { timer3.pwm(3,1); timer3.pwm(4,1); };
function on.message.scout {
  print arg(2);
  if ( key.number( arg(2) ) == 0 ) halt();
  if ( key.number( arg(2) ) == 3 ) left();
  if ( key.number( arg(2) ) == 4 ) right();
  if ( key.number( arg(2) ) == 2 ) forward();
  if ( key.number( arg(2) ) == 1 ) backward();
};