task main () {
tMotor testMotor = motorC;
// playSound(soundBeepBeep);
// displayBigTextLine(3, "Retract");
// FLACtretractLA(testMotor, 100);
// while(!isDone(testMotor)) sleep(50);
// sleep(200);
// nMotorEncoder[testMotor] = 0;
// sleep(1000);
playSound(soundBeepBeep);
eraseDisplay();
displayBigTextLine(1, "Extend");
displayTextLine(3, "ticks: 1");
displayTextLine(4, "speed: 50");
FLACextendLA(testMotor, 50, 1);
while(!isDone(testMotor)) sleep(50);
if (isStalled(testMotor))
displayTextLine(7, "STALLED");
sleep(1000);
// playSound(soundBeepBeep);
// eraseDisplay();
// displayBigTextLine(1, "Extend");
// displayTextLine(3, "ticks: 100");
// displayTextLine(4, "speed: 80");
// FLACextendLA(testMotor, 80, 100);
// while(!isDone(testMotor)) sleep(50);
// if (isStalled(testMotor))
// displayTextLine(7, "STALLED");
// sleep(1000);
// eraseDisplay();
// playSound(soundBeepBeep);
// displayBigTextLine(1, "Retract");
// displayTextLine(3, "ticks: 120");
// displayTextLine(4, "speed: 100");
// FLACtretractLA(testMotor, 100, 120);
// while(!isDone(testMotor)) sleep(50);
// if (isStalled(testMotor))
// displayTextLine(7, "STALLED");
// sleep(1000);
playSound(soundBeepBeep);
displayBigTextLine(1, "Retract");
displayTextLine(3, "ticks: 1");
displayTextLine(4, "speed: 100");
FLACtretractLA(testMotor, 100, 1);
while(!isDone(testMotor)) sleep(50);
if (isStalled(testMotor))
displayTextLine(7, "STALLED");
sleep(1000);
playSound(soundBeepBeep);
eraseDisplay();
displayBigTextLine(1, "Done");
sleep(2000);
}
//IR SENSOR TASK
task IR_Sense(){
ubyte request[3]; // I2C request message
ubyte reply[6]; // accelerometer returns 7 values
int replyLen; // length of reply array.
tSensors port; // port the sensor is attached to.
// which port is the accelerator hooked up to?
port = S4;
// Ensure the sensor is configured correctly
SensorType[port] = sensorI2CCustom;
eraseDisplay();
while (true) {
// Read the data from the sensor
// setup the request message....
request[0] = 2; // Message size is 2 bytes..
request[1] = I2C_ADDR; // I2C Address of sensor(0x02)
request[2] = REG_OFFSET; // location of registers to read 0x42
replyLen = 6; // how many registers to read
// send request message to sensor.
sendI2CMsg(port, &request[0], replyLen);
// wait for a reply on the sensor port.
// also check for sensor error...
if (!waitForI2C(port)) {
displayBigTextLine(4, "Error 1.");
wait1Msec(2000);
stopAllTasks();
}
// read the reply from the sensor.
readI2CReply(port, &reply[0], replyLen);
// make sure the bus is clear...
// check for error.
if (!waitForI2C(port)){
displayBigTextLine(4, "Error 2.");
wait1Msec(2000);
stopAllTasks();
}
//Waits, then updates BrightLight value
wait1Msec(5);
BrightLight = reply[0];
}
}
task main()
{
while(true) {
displayBigTextLine(0, "%d" , getColorAmbient(Color1));
}
}
task main(){
nMotorEncoder[Input]=0;
while(true){
int pos=nMotorEncoder[Input]/8;
displayBigTextLine(1,"%4d",pos);
servo[toTest]=pos;
servoTarget[toTest]=pos;
servoChangeRate[toTest]=5;
}
}
task main()
{
while(true) {
displayBigTextLine(0, "%f", calcDistMoved());
while(calcDistMoved() < 55.0) {
setMotorSpeed(LeftMotor, 15);
setMotorSpeed(RightMotor, 15);
}
setMotorSpeed(LeftMotor, 0);
setMotorSpeed(RightMotor, 0);
displayBigTextLine(0, "%f", calcDistMoved());
delay(100000);
}
}
task main()
{
manualCallibColor();
resetGyro(Gyro);
seekBounds();
faceHeading(forwardsHeading);
while(true) {
if(isInsideLine()) {
setMotorSpeed(LeftMotor, 30);
setMotorSpeed(RightMotor, 30);
}
else {
seekBounds();
faceHeading(forwardsHeading);
eraseDisplay();
displayBigTextLine(0, "Head: %d", forwardsHeading);
}
}
}
task main()
{
int count=0;
int direction=1;
int end=0;
int doubleline=0;
int pause=0;
//turn right go forward until hit double line go back half a square then turn left (You are at bottom left sq now
RightTurn();
while(pause==0)
{
motor(motorB)=SPEED;
motor(motorC)=SPEED;
wait1Msec(1);
if(SensorValue(S3)<45&&doubleline!=1)
{
if(time1[T1]<200)
{
pause=1;
}
doubleline=1;
}
if(SensorValue(S3)>45&&doubleline==1)
{
doubleline=0;
clearTimer(T1);
}
}
motor[motorB]=-20;
motor[motorC]=-20;
wait1Msec(700);
LeftTurn();
while(end!=7)
{
//traverse right and count lines
if(direction==1)
{
end++;
while(count<8)
{
if(SensorValue(S3)<45)
{
blacksq++;
//store position to array
grid[pos1][pos2]=1;
}
//increment counters
count++;
total++;
displayBigTextLine(2,"Black:%d",blacksq);
displayBigTextLine(5,"Count:%d ",count);
displayBigTextLine(8,"Total:%d",total);
//move forward one square
Forward();
pos2++;
}
//Switches to next line
if(end!=6)
{
direction=NextLineLeft(direction);
//Resets count
count=ResetCount(count);
pos2=0;
pos1++;
}
}
if(direction==2)
{
end++;
while(count<8)
{
if(SensorValue(S3)<45)
{
blacksq++;
//store position to array
grid[pos1][pos2]=1;
}
//increment counters
count++;
total++;
displayBigTextLine(2,"Black:%d",blacksq);
displayBigTextLine(5,"Count:%d ",count);
displayBigTextLine(8,"Total:%d",total);
//move forward one square
Forward();
pos2++;
}
//Switches to next line
if(end!=7)
{
//Switches to next line
direction=NextLineRight(direction);
//Resets count
count=ResetCount(count);
pos2=0;
pos1++;
}
}//end if()
//go back 7 suares and take away distance from bottom col from start from 7 and go to start
}//end while()
}//end main()
task main()
{
int count=0;
int direction=1;
int end=0;
int doubleline=0;
int pause=0;
//open the file to write
fileHandle=fileOpenWrite(filename);
//turn right go forward until hit double line go back half a square then turn left You are at bottom left sq now
RightTurn();
while(pause==0)
{
motor(motorB)=SPEED;
motor(motorC)=SPEED;
wait1Msec(1);
if(SensorValue(S3)<45&&doubleline!=1)
{
if(time1[T1]<200)
{
pause=1;
}
doubleline=1;
}
if(SensorValue(S3)>45&&doubleline==1)
{
doubleline=0;
clearTimer(T1);
}
}
motor[motorB]=-20;
motor[motorC]=-20;
wait1Msec(700);
LeftTurn();
//start traversing grid
while(end!=7)
{
//traverse right and count lines
if(direction==1)
{
end++;
while(count<8)
{
if(SensorValue(S3)<45)
{
blacksq++;
//store position to array
grid[pos1][pos2]='1';
}
//increment counters
count++;
total++;
displayBigTextLine(2,"Black:%d",blacksq);
displayBigTextLine(5,"Count:%d ",count);
displayBigTextLine(8,"Total:%d",total);
//move forward one square
Forward();
pos2++;
}
//Switches to next line
if(end!=7)
{
direction=NextLineLeft(direction);
//Resets count
count=ResetCount(count);
pos1++;
}
}
if(direction==2)
{
end++;
while(count<8)
{
if(SensorValue(S3)<45)
{
blacksq++;
//store position to array
grid[pos1][pos2]='1';
}
//increment counters
count++;
total++;
displayBigTextLine(2,"Black:%d",blacksq);
displayBigTextLine(5,"Count:%d ",count);
displayBigTextLine(8,"Total:%d",total);
//move forward one square
Forward();
pos2--;
}
//Switches to next line
if(end!=7)
{
//Switches to next line
direction=NextLineRight(direction);
//Resets count
count=ResetCount(count);
pos1++;
}
}//end if()
}//end while()
checkarray();
//Goes back to the start function
GoStart();
//THIS IS THE SECOND PART OF THE PROGRAM TO MAP THE LOCATION OF THE OBJECT
while(1==1)
{
if(getTouchValue(S2)==1)
{
//reset all values
pos1=0;
pos2=0;
count=0;
direction=1;
end=0;
while(end!=7)
{
//traverse right and count lines
if(direction==1)
{
end++;
while(count<8)
{
//check to see if there is an object 140mm away
if(getUSDistance(S1)<14)
{
grid[pos1][pos2]='J';
motor[motorB]=0;
motor[motorC]=0;
wait1Msec(1000000);
}
//increment counters
count++;
Forward();
pos2++;
}
//Switches to next line
if(end!=7)
{
direction=NextLineLeft(direction);
//Resets count
count=ResetCount(count);
pos1++;
}
}
if(direction==2)
{
//check to see if there is an object 140mm away
end++;
while(count<8)
{
if(getUSDistance(S1)<14)
{
grid[pos1][pos2]='J';
motor[motorB]=0;
motor[motorC]=0;
wait1Msec(1000000);
}
//increment counters
count++;
//move forward one square
Forward();
pos2--;
}
//Switches to next line
if(end!=7)
{
//Switches to next line
direction=NextLineRight(direction);
//Resets count
count=ResetCount(count);
pos1++;
}
}//end if()
}//end while()
} }//end if()
}//end main()
void manualCallibColor() {
unsigned short lightVal = 0;
unsigned short greyVal = 0;
unsigned short darkVal = 0;
displayBigTextLine(0, "Color callib.");
displayTextLine(3, "Place sensor on light surface.");
displayTextLine(4, "Press Enter to accept.");
while(true) {
// Display the reflected value live to help manual positioning.
lightVal = getColorReflected(Color1);
displayBigTextLine(6, "Reflected: %d", lightVal);
// Press enter to take 10 light sampels then tage the average and break out of the loop.
if(getButtonPress(buttonEnter) == 1) {
lightVal = avgReflectedLight(10);
break;
}
}
delay(1000);
eraseDisplay();
displayBigTextLine(0, "Color callib.");
displayTextLine(3, "Place sensor on grey surface.");
displayTextLine(4, "Press Enter to accept.");
while(true) {
// Display the reflected value live to help manual positioning.
greyVal = getColorReflected(Color1);
displayBigTextLine(6, "Reflected: %d", greyVal);
// Press enter to take 10 light sampels then tage the average and break out of the loop.
if(getButtonPress(buttonEnter) == 1) {
greyVal = avgReflectedLight(10);
break;
}
}
delay(1000);
displayBigTextLine(0, "Color callib.");
displayTextLine(3, "Place sensor on dark surface.");
displayTextLine(4, "Press Enter to accept.");
while(true) {
// Display the reflected value live to help manual positioning.
darkVal = getColorReflected(Color1);
displayBigTextLine(6, "Reflected: %d", darkVal);
// Press enter to take 10 light sampels then tage the average and break out of the loop.
if(getButtonPress(buttonEnter) == 1) {
darkVal = avgReflectedLight(10);
break;
}
}
delay(5000);
threshold = (lightVal + greyVal) / 2;
stopLine = darkVal;
}
task main()
{
//Declare variables
int targetImage[8][8] = {{1, 1, 1, 0, 0, 1, 1, 1},
{1, 0, 0, 0, 0, 0, 0, 1},
{1, 0, 0, 0, 0, 0, 0, 1},
{0, 0, 0, 0, 0, 0, 0, 0},
{0, 0, 0, 0, 0, 0, 0, 0},
{1, 0, 0, 0, 0, 0, 0, 1},
{1, 0, 0, 0, 0, 0, 0, 1},
{1, 1, 1, 0, 0, 1, 1, 1}};
int hitImage[8][8] = {{0, 0, 0, 0, 0, 0, 0, 0},
{0, 0, 1, 1, 1, 1, 0, 0},
{0, 1, 1, 1, 1, 1, 1, 0},
{0, 1, 1, 1, 1, 1, 1, 0},
{0, 1, 1, 1, 1, 1, 1, 0},
{0, 1, 1, 1, 1, 1, 1, 0},
{0, 0, 1, 1, 1, 1, 0, 0},
{0, 0, 0, 0, 0, 0, 0, 0}};
int splashImage[8][8] = {{0, 0, 0, 0, 0, 0, 0, 0},
{0, 0, 1, 1, 1, 1, 0, 0},
{0, 1, 0, 0, 0, 0, 1, 0},
{0, 1, 0, 0, 0, 0, 1, 0},
{0, 1, 0, 0, 0, 0, 1, 0},
{0, 1, 0, 0, 0, 0, 1, 0},
{0, 0, 1, 1, 1, 1, 0, 0},
{0, 0, 0, 0, 0, 0, 0, 0}};
int mainGrid[8][8] =
{{0, 1, 1, 1, 1, 1, 0, 0}, //[0][0-8]
{0, 0, 0, 0, 0, 0, 0, 0}, //[1][0-7]
{0, 1, 0, 0, 0, 0, 0, 0}, //[2][0-7]
{0, 1, 0, 0, 0, 1, 1, 1}, //[3][0-7]
{1, 0, 0, 0, 0, 0, 0, 0}, //[4][0-7]
{1, 0, 0, 0, 0, 0, 0, 0}, //[5][0-7]
{1, 0, 1, 1, 1, 0, 0, 0}, //[6][0-7]
{1, 0, 0, 0, 0, 0, 0, 0}}; //[7][0-7]
int colourValue;
int x=10;
int y=10;
int xMove=0;
int yMove=0;
int xShip=0;
int yShip=7-yMove;
int hits=0;
//Setup colour sensor
SensorType[S3] = sensorEV3_Color;//set TYPE
SensorMode[S3] = modeEV3Color_Color;//set MODE
while(hits<17)
/*
*************************************************************
Red - 5 - SHOOT
Blue - 2 - LEFT
Yellow - 4 - RIGHT
Green - 3 - DOWN
*************************************************************
*/
{
//Erase target image
clearTarget(targetImage,x,y);
sleep(500);
//Check colour
colourValue=getColorName(S3);
sleep(50);
if (colourValue==2)
{
if(xMove>0)
{
xMove--;
}
else if(xMove==0)
{
xMove=7;
}
}
if (colourValue==4)
{
if(xMove<7)
{
xMove++;
}
else if(xMove==7)
{
xMove=0;
}
}
if (colourValue==3)
{
if(yMove>0)
{
yMove--;
}
else if(yMove==0)
{
yMove=7;
}
}
x=xMove*8+10;
y=yMove*8+10;
if (colourValue==5)
{
//Calculate Main Grid Location
xShip=xMove;
yShip=7-yMove;
//Play torpedo drop sound
torpedoSound();
if (mainGrid[yShip][xShip]==1)
{
//Play hit sound
kabloom();
//Draw hit image
kabloomDraw(hitImage,x,y);
//Increment hits
hits++;
//Remove ship
mainGrid[yShip][xShip]=0;
}
else {
//Play splash sound
sploosh();
//Draw splash image
splooshDraw(splashImage,x,y);
}
}
//Draw target image
drawTarget(targetImage,x,y);
//Sleep for a small amount of time
sleep(500);
}
displayBigTextLine(2, "Winner!");
sleep(5000);
}
