/*
=============================================================================
main task with some testing code
*/
task main() {
int _raw = 0;
int _processed = 0;
// Standard range is set to short range
bool shortrange = true;
nNxtButtonTask = -2;
eraseDisplay();
nxtDisplayCenteredTextLine(0, "HiTechnic");
nxtDisplayCenteredBigTextLine(1, "EOPD");
nxtDisplayCenteredTextLine(3, "Test 1");
nxtDisplayCenteredTextLine(5, "Press enter to");
nxtDisplayCenteredTextLine(6, "switch between");
nxtDisplayCenteredTextLine(7, "ranges");
wait1Msec(2000);
eraseDisplay();
// Set the sensor to short range
HTEOPDsetShortRange(HTEOPD);
while(true) {
if (time1[T1] > 1000) {
if (shortrange == false) {
// set the sensor to short range and display this
HTEOPDsetShortRange(HTEOPD);
nxtDisplayClearTextLine(1);
nxtDisplayTextLine(1, "Short range");
shortrange = true;
} else {
// set the sensor to long range and display this
HTEOPDsetLongRange(HTEOPD);
nxtDisplayClearTextLine(1);
nxtDisplayTextLine(1, "Long range");
shortrange = false;
}
PlaySound(soundBeepBeep);
while(bSoundActive)
time1[T1] = 0;
}
while(nNxtButtonPressed != kEnterButton) {
// Read the raw sensor value
_raw = HTEOPDreadRaw(HTEOPD);
// read the processed value which is linear with
// the distance detected. Use the processed value
// when you want to determine distance to an object
_processed = HTEOPDreadProcessed(HTEOPD);
nxtDisplayClearTextLine(3);
nxtDisplayClearTextLine(4);
nxtDisplayTextLine(4, "Proc: %4d", _processed);
nxtDisplayTextLine(3, "Raw : %4d", _raw);
wait1Msec(50);
}
}
}
task main(){
initializeRobot();
// wait for start of tele-op phase
waitForStart();
//actual control of the robot
int _raw = 0;
int _processed = 0;
// Set the sensor to short range
HTEOPDsetShortRange(HTEOPD);
while (true){
getJoystickSettings(joystick);
//code for robot panning controlled by the left joystick
if(joystick.joy1_y1 > zero){ //forwards
ySet(joystick.joy1_y1);
}else if(joystick.joy1_y1 < -zero){ //backwards
ySet(joystick.joy1_y1);
}else if(joystick.joy1_x1 < -zero){ //left
xSet(joystick.joy1_x1);
}else if(joystick.joy1_x1 > zero){ //right
xSet(joystick.joy1_x1);
}else if(joystick.joy1_x2 < -zero){ //left turn
turn(joystick.joy1_x2);
}else if(joystick.joy1_x2 > zero){ //right turn
turn(joystick.joy1_x2);
}else{
ySet(0);
}
}
task main()
{
servo[topServo] = 235;
initializeRobot();
int _raw = 0;
int _processed = 0;
// Set the sensor to short range
HTEOPDsetShortRange(HTEOPD);
while(true){
// Read the raw sensor value
_raw = HTEOPDreadRaw(HTEOPD);
// read the processed value which is linear with
// the distance detected. Use the processed value
// when you want to determine distance to an object
_processed = HTEOPDreadProcessed(HTEOPD);
nxtDisplayClearTextLine(3);
nxtDisplayClearTextLine(4);
nxtDisplayTextLine(4, "Proc: %4d", _processed);
nxtDisplayTextLine(3, "Raw : %4d", _raw);
wait1Msec(50);
if (_processed > 41) {
LSsetActive(LEGOLS); // turn light on
PlaySound(soundBeepBeep);
while(bSoundActive){};
LSsetInactive(LEGOLS); // turn light off
} // if ball close
}
}