int main() {
printf("Online%\n\r");
wait_ms(500);
w1_cha.fall(&count_w1_a);
w1_chb.fall(&count_w1_b);
w2_cha.fall(&count_w2_a);
w2_chb.fall(&count_w2_b);
/* test maneuvers */
forward();
backward();
turnr();
turnl();
turnl();
square();
while(1) {
if (w1_count_a != w1_dif_a){
w1_dif_a = w1_count_a;
printf("w1 count a = %d\n\r", w1_dif_a);
}
if (w1_count_b != w1_dif_b){
w1_dif_b = w1_count_b;
printf("w1 count b = %d\n\r", w1_dif_b);
}
if (w2_count_a != w2_dif_a){
w2_dif_a = w2_count_a;
printf("w2 count a = %d\n\r", w2_dif_a);
}
if (w2_count_b != w2_dif_b){
w2_dif_b = w2_count_b;
printf("w2 count b = %d\n\r", w2_dif_b);
}
myled = !myled;
}
}
int main()
{
create_connect();
go(457.2,250);
resetd();
while (get_create_total_angle(10) < 90)
{turnl(250);}
reseta();
go(457.2,250);
resetd();
while (get_create_total_angle(10) > -90)
{turnr(250);}
reseta();
go(250,250);
while (get_create_total_angle(10) > -90)//Riddhi..your job is to write a
//function like mine, go, that makes an easy command to turn the robot.
{turnr(250);}
reseta();
go(400,250);
resetd();
motor(3,50);
sleep(1.5);//this is to lower the cage thing for the green
//and pink containers. might have to go forward or backward.
go(-400,250);//to go backwards
resetd();
while (get_create_total_angle(10) < 90)
{turnl(250);}
reseta();
go(-457.2,250);
resetd();
//need help with steps 13-21 on the pseudocode.
while (analog(2) < 100)
{create_drive_straight(250);} //to raise the cage, and leave the filled containers of luggage.
motor(3,50);
sleep(1.5);
enable_servos();
get_servo_position(2);
if (get_servo_position(2) > 1023)
{set_servo_position(2,get_servo_position(2)-1023);}
if (get_servo_position(2) < 1023)
{set_servo_position(2,get_servo_position(2)+1023);}
}
int main(void)
{
const unsigned short MainCycle = 60;
Init(MainCycle);
Int i;
for (i = 0; i < N; i++){
zensin(KYORI);
turnl(KAKUDO);
}
return 0;
}
int main() {
printf("Online%\n\r");
wait_ms(500);
/*inturupts*/
w1_cha.fall(&count_w1_a);
w1_chb.fall(&count_w1_b);
w2_cha.fall(&count_w2_a);
w2_chb.fall(&count_w2_b);
c_forward(); //sets the robot to go forward
while(1) {
s1_check = s1;
s2_check = s2;
s3_check = s3;
//s4_check = s4;
if(s1_check != 1)
{
printf("S1 Hit \n\r");
}
if(s2_check != 1)
{
printf("S2 Hit \n\r");
}
if(s3_check != 1)
{
printf("S3 Hit \n\r");
}
// if(s4_check != 1)
//{
//printf("S4 Hit \n\r");
//}
if (w1_count_a != w1_dif_a){
w1_dif_a = w1_count_a;
printf("w1 count a = %d\n\r", w1_dif_a);
}
if (w1_count_b != w1_dif_b){
w1_dif_b = w1_count_b;
printf("w1 count b = %d\n\r", w1_dif_b);
}
if (w2_count_a != w2_dif_a){
w2_dif_a = w2_count_a;
printf("w2 count a = %d\n\r", w2_dif_a);
}
if (w2_count_b != w2_dif_b){
w2_dif_b = w2_count_b;
printf("w2 count b = %d\n\r", w2_dif_b);
}
/*goes backwards if it hits a detects a wall*/
if (s1 != 1 && s2 !=1)
{
backward();//to correct when aligning
c_backward();
}
/*goes forwards when detecting the wall*/
if (s3 != 1){
c_forward();
}
/*tries to aligin with the wall*/
if (s1 != 1 && s2 != 0)
{
while(s1 != 1 && s2 != 0){
c_right();
}
backward();
//dir = 0;
//c_backward();
}
/*tries to aligin with the wall*/
if (s1 != 0 && s2 != 1)
{
while(s1 != 0 && s2 != 1){
c_left();
}
backward();
//dir = 0;
//c_backward();
}
/*if all sensors triggured tries to turn to escape*/
if (s1 != 1 && s2 != 1 && s3 != 1)
{
turnl();
}
/*if no senors triggred tries to contiue on*/
if (s1 != 0 && s2 != 0 && s3 != 0)
{
if (dir == 0){
c_backward();
}
else{
c_forward();
}
}
}
}
