task main() {
servoPrep();
Joystick_WaitForStart();
disableDiagnosticsDisplay();
while(true) {
encoderPrep();
startTrackers();
driveForward(310.0);
turnRight(85.0);
if(irDetected == true) {
irPos2 = true;
turnRight(40.0);
irDetected = false;
driveBackward(25.0);
if(irDetected == true) {
driveBackward(15.0);
raiseLift(750.0);
dropBallCenter();
wait1Msec(300);
servo[centerServo] = endPosCenter - 30;
lowerLift(1000.0);
lowerLift(1000.0);
lowerLift(1000.0);
lowerLift(1000.0);
lowerLift(1000.0);
driveForward(105.0);
turnRight(85.0);
driveBackward(300.0);
}
else {
irPos1 = true;
driveBackward(110.0);
turnRight(46.0);
driveBackward(135.0);
turnRight(3.0);
raiseLift(750.0);
dropBallCenter();
wait1Msec(300);
servo[centerServo] = endPosCenter - 30;
lowerLift(1000.0);
lowerLift(1000.0);
lowerLift(1000.0);
lowerLift(1000.0);
lowerLift(1000.0);
driveForward(130.0);
turnRight(82.0);
driveBackward(300.0);
}
}
else {
driveForward(115.0);
// ir loop
if(irDetected == true) {
irPos3 = true;
driveBackward(15.0);
raiseLift(750.0);
dropBallCenter();
wait1Msec(300);
servo[centerServo] = endPosCenter - 30;
lowerLift(1000.0);
lowerLift(1000.0);
lowerLift(1000.0);
lowerLift(1000.0);
lowerLift(1000.0);
driveForward(120.0);
turnRight(85.0);
driveBackward(300.0, 60);
/*turnRight(43.0);
driveBackward(250.0);
motor[rightWheel] = -20;
motor[leftWheel] = -20;
wait1Msec(200);
motor[rightWheel] = 0;
motor[leftWheel] = 0;
dropClamp();
driveForward(10.0);
raiseLift(700.0);
dropBallGoal();
resetDropGoal();*/
break;
}
else {
driveBackward(220.0);
turnRight(85.0);
driveBackward(100.0);
}
}
break;
}
}
task main()
{
init();
wait1Msec(1000);
sticksDown();
raiseLift(100);
time1[T1]=0;
while (nMotorEncoder[intake] < 430 && time1[T1] < 2500) //while the encoder wheel turns one revolution
{
times = time1[T1];
}
allStop();
wait1Msec(500);
//if(time1[T1]>2500)
// while(true){
// nxtDisplayCenteredBigTextLine(1,":(");
// }
releaseBalls();
allStop();
wait1Msec(3000);
retainBalls();
allStop();
wait1Msec(750);
lowerLift(20);
while (nMotorEncoder[intake] > 220) //while the encoder wheel turns one revolution
{
}
allStop();
wait1Msec(500);
releaseAutoBall();
intakeIn(100);
wait1Msec(600);
allStop();
wait1Msec(500);
sticksUp();
wait1Msec(3000);
while(SensorValue[sonarSensor]>25){allStop();}
wait1Msec(2000);
sticksDown();
allStop();
wait1Msec(500);
raiseLift(100);
while (nMotorEncoder[intake] < 1000) //while the encoder wheel turns one revolution
{
}
allStop();
wait1Msec(500);
releaseBalls();
allStop();
wait1Msec(3000);
retainBalls();
allStop();
wait1Msec(750);
lowerLift(20);
while (nMotorEncoder[intake] > 740) //while the encoder wheel turns one revolution
{
}
allStop();
wait1Msec(500);
}
task main()
{
init();
waitForStart();
driveSonar(1,25,80);
allStop();
wait1Msec(100);
backward(20);
wait1Msec(700);
sticksDown();
wait1Msec(250);
allStop();
wait1Msec(100);
raiseLift(100);
time1[T1]=0;
while (nMotorEncoder[intake] < 410 && time1[T1] < 2500) //while the encoder wheel turns one revolution
{
times = time1[T1];
}
allStop();
wait1Msec(500);
//if(time1[T1]>2500)
// while(true){
// nxtDisplayCenteredBigTextLine(1,":(");
// }
releaseBalls();
allStop();
wait1Msec(3000);
retainBalls();
allStop();
wait1Msec(750);
lowerLift(80);
while (nMotorEncoder[intake] > 220) //while the encoder wheel turns one revolution
{
}
allStop();
wait1Msec(500);
releaseAutoBall();
wait1Msec(500);
motor[intake] = 100;
wait1Msec(1000);
motor[intake] = 0;
turn(0,180,100);
allStop();
wait1Msec(100);
drive(1,1,75);
sticksUp();
drive(0,1,75);
time1[T1]=0;
while(SensorValue[sonarSensor]>30||time1[T1]<1200){
left(50);
}
while(SensorValue[sonarSensor]<200){
left(50);
}
allStop();
wait1Msec(100);
turn(0,25,70);
allStop();
wait1Msec(100);
driveSonar(1,25,50);
backward(30);
wait1Msec(700);
sticksDown();
wait1Msec(250);
allStop();
raiseLift(100);
while (nMotorEncoder[intake] < 1000) //while the encoder wheel turns one revolution
{
}
allStop();
wait1Msec(500);
releaseBalls();
allStop();
wait1Msec(3000);
retainBalls();
allStop();
wait1Msec(750);
lowerLift(80);
while (nMotorEncoder[intake] > 740) //while the encoder wheel turns one revolution
{
}
allStop();
wait1Msec(500);
}
task main()
{
init();
waitForStart();
StartTask(keepHeading);
StartTask(raiseLiftWhile);
driveSonar(1,25,50);
allStop();
wait1Msec(100);
backward(20);
wait1Msec(700);
sticksDown();
wait1Msec(250);
allStop();
wait1Msec(300);
//LIFT
releaseBalls();
allStop();
wait1Msec(3000);
retainBalls();
allStop();
wait1Msec(750);
lowerLift(80);
while (nMotorEncoder[intake] > 220) //while the encoder wheel turns one revolution
{
}
allStop();
wait1Msec(100);
turn(1,19,70);
allStop();
wait1Msec(100);
drive(0,2.0,100);
allStop();
wait1Msec(100);
turn(0,170,100);
allStop();
wait1Msec(100);
sticksUp();
drive(1,.3,100);
allStop();
wait1Msec(100);
turn(0,180,100);
allStop();
wait1Msec(100);
//while(SensorValue[sonarSensor]>40){
// backward(100);
//}
//turnToGlobalHeading(-15);
allStop();
wait1Msec(100);
drive(1,1.3,100);
allStop();
wait1Msec(100);
turnToGlobalHeading(-78);
allStop();
wait1Msec(100);
while(SensorValue[sonarSensor]>25){
backward(30);
}
allStop();
wait1Msec(100);
while(SensorValue[sonarSensor]<200){
left(50);
}
allStop();
wait1Msec(100);
turn(0,18,100);
allStop();
wait1Msec(100);
driveSonar(1,25,50);
backward(30);
wait1Msec(700);
sticksDown();
wait1Msec(250);
allStop();
turn(1,17,70);
allStop();
wait1Msec(100);
drive(0,2.7,100);
allStop();
wait1Msec(100);
turn(0,175,100);
allStop();
wait1Msec(50);
sticksUp();
drive(1,.8,100);
}
