task main () {
nNxtButtonTask = -2;
displayCenteredTextLine(0, "Mindsensors");
displayCenteredBigTextLine(1, "Angle");
displayCenteredTextLine(3, "Test 2");
displayCenteredTextLine(5, "Connect sensor");
displayCenteredTextLine(6, "to S1");
MSANGresetAngle(MSANG);
sleep(2000);
eraseDisplay();
while (true) {
// Reset the angle to 0
if (nNxtButtonPressed == kEnterButton)
{
debounce();
calibrateScales();
debounce();
}
displayCenteredTextLine(0, "GlideWheel-AS");
displayCenteredTextLine(1, "Weighing scale");
displayTextLine(7, "[enter] to calib.");
displayCenteredBigTextLine(4, "%d g", weighObject());
sleep(20);
}
}
task main(){
// This struct holds all the sensor related data
tDIMC compass;
displayCenteredTextLine(0, "Dexter Ind.");
displayCenteredBigTextLine(1, "dCompass");
displayCenteredTextLine(3, "Test 1");
displayCenteredTextLine(5, "Connect sensor");
displayCenteredTextLine(6, "to S1");
sleep(2000);
eraseDisplay();
// Fire up the compass and initialize it. Only needs to be done once.
if (!initSensor(&compass, DIMC))
playSound(soundException);
sleep(100);
while (true){
// Read the Compass
if (!readSensor(&compass))
playSound(soundException);
displayCenteredBigTextLine(2, "%3.2f", compass.heading);
displayTextLine(5, "%d", compass.axes[0]);
displayTextLine(6, "%d", compass.axes[1]);
displayTextLine(7, "%d", compass.axes[2]);
sleep(50);
}
}
/*
=============================================================================
main task with some testing code
*/
task main() {
// Standard range is set to short range
bool shortrange = true;
tObstacleZone zone = MSSUMO_NONE;
nNxtButtonTask = -2;
eraseDisplay();
displayCenteredTextLine(0, "Mindsensors");
displayCenteredBigTextLine(1, "SUMO Eyes");
displayCenteredTextLine(3, "Test 1");
displayCenteredTextLine(5, "Press enter to");
displayCenteredTextLine(6, "switch between");
displayCenteredTextLine(7, "ranges");
sleep(2000);
eraseDisplay();
// Set the sensor to short range
MSSUMOsetShortRange(HTMSSUMO);
while(true) {
if (time1[T1] > 1000) {
if (shortrange == false) {
// set the sensor to short range and display this
MSSUMOsetShortRange(HTMSSUMO);
displayClearTextLine(1);
displayTextLine(1, "Short range");
shortrange = true;
} else {
// set the sensor to long range and display this
MSSUMOsetLongRange(HTMSSUMO);
displayClearTextLine(1);
displayTextLine(1, "Long range");
shortrange = false;
}
playSound(soundBeepBeep);
while(bSoundActive)
time1[T1] = 0;
}
while(nNxtButtonPressed != kEnterButton) {
// Read the zone data
zone = MSSUMOreadZone(HTMSSUMO);
switch (zone) {
case MSSUMO_FRONT: displayCenteredBigTextLine(4, "FRONT"); break;
case MSSUMO_LEFT: displayCenteredBigTextLine(4, "LEFT"); break;
case MSSUMO_RIGHT: displayCenteredBigTextLine(4, "RIGHT"); break;
case MSSUMO_NONE: displayCenteredBigTextLine(4, "NONE"); break;
}
sleep(50);
}
}
}
task main () {
short distance = 0;
short voltage = 0;
short mindist = 0;
short maxdist = 0;
string type;
displayCenteredTextLine(0, "Mindsensors");
displayCenteredBigTextLine(1, "DIST-nx");
displayCenteredTextLine(3, "Test 1");
sleep(2000);
playSound(soundBeepBeep);
while(bSoundActive) EndTimeSlice();
eraseDisplay();
// Read the minimum distance the sensor can "see"
mindist = MSDISTreadMinDist(MSDIST);
// Read the maximum distance the sensor can "see"
maxdist = MSDISTreadMaxDist(MSDIST);
// Get the type of Sharp IR module connected to the sensor
switch(MSDISTreadModuleType(MSDIST)) {
case MSDIST_GP2D12: type = " GP2D12"; break;
case MSDIST_GP2D120: type = "GP2D120"; break;
case MSDIST_GP2YA02: type = "GP2YA02"; break;
case MSDIST_GP2YA21: type = "GP2YA21"; break;
case MSDIST_CUSTOM: type = " CUSTOM"; break;
}
displayTextLine(5, "Type: %s", type);
displayTextLine(6, "Min: %4dmm", mindist);
displayTextLine(7, "Max: %4dmm", maxdist);
while (true) {
// Get the distance calculated based on the data from the IR Sharp module
distance = MSDISTreadDist(MSDIST);
// Get the raw voltage data from the Sharp IR module
voltage = MSDISTreadVoltage(MSDIST);
if (distance < 0) {
displayTextLine(4, "ERROR!!");
sleep(2000);
stopAllTasks();
}
displayCenteredBigTextLine(0, "%4dmm", distance);
displayCenteredBigTextLine(3, "%4dmV", voltage);
sleep(50);
}
}
task main(){
short heading;
short x_val, y_val, z_val; // axis values
displayCenteredTextLine(0, "Mindsensors");
displayCenteredBigTextLine(1, "IMU");
displayCenteredTextLine(3, "Test 2");
displayCenteredTextLine(5, "Connect sensor");
displayCenteredTextLine(6, "to S1");
sleep(2000);
eraseDisplay();
while (true){
// Read the Compass
heading = MSIMUreadHeading(MSIMU);
displayTextLine(1, "%d", heading);
// Read the tilt
MSIMUreadTiltAxes(MSIMU, x_val, y_val, z_val);
displayTextLine(5, "%d", x_val);
displayTextLine(6, "%d", y_val);
displayTextLine(7, "%d", z_val);
sleep(50);
}
}
task main() {
short raw = 0;
short nrm = 0;
nNxtButtonTask = -2;
eraseDisplay();
displayTextLine(0, "Dexter Industries");
displayCenteredBigTextLine(1, "dFlex");
displayCenteredTextLine(3, "Test 1");
displayCenteredTextLine(5, "Connect sensor");
displayCenteredTextLine(6, "to S1");
sleep(2000);
eraseDisplay();
displayTextLine(0, "dFlex Sensor");
while (true) {
displayClearTextLine(5);
displayClearTextLine(6);
// Get the raw value from the sensor
raw = DFLEXvalRaw(DFLEX);
// Get the normalised value from the sensor
nrm = DFLEXvalNorm(DFLEX);
displayTextLine(2, "Raw: %4d", raw);
displayTextLine(4, "Norm: %4d", nrm);
sleep(50);
}
}
task main () {
nNxtButtonTask = -2;
displayCenteredTextLine(0, "Mindsensors");
displayCenteredBigTextLine(1, "Angle");
displayCenteredTextLine(3, "Test 1");
displayCenteredTextLine(5, "Connect sensor");
displayCenteredTextLine(6, "to S1");
sleep(2000);
eraseDisplay();
displayCenteredTextLine(0, "GlideWheel-AS");
displayTextLine(1, "-------------------");
displayTextLine(5, "-------------------");
while (true) {
// Reset the angle to 0
if (nNxtButtonPressed == kEnterButton)
{
MSANGresetAngle(MSANG);
while (nNxtButtonPressed != kNoButton) sleep(1);
}
// Read the current angle, accumulated angle and RPM and display them
displayTextLine(2, "Ang: %7d deg", MSANGreadAngle(MSANG));
displayTextLine(3, "Raw: %7d", MSANGreadRaw(MSANG));
displayTextLine(4, "RPM: %7d", MSANGreadRPM(MSANG));
displayTextLine(7, " Reset angle");
sleep(50);
}
}
void check_bleutooth(string *s){
/*
This function makes a bleutooth connection and then waits for input from the connected phone
*/
TFileIOResult nBTCmdRdErrorStatus;
int nSizeOfMessage;
ubyte nRcvBuffer[kMaxSizeOfMessage];
while(1){
//wait on bleutooth
nSizeOfMessage = cCmdMessageGetSize(INBOX);
if (nSizeOfMessage > kMaxSizeOfMessage){//make the message shorter if its to long
nSizeOfMessage = kMaxSizeOfMessage;
}
if (nSizeOfMessage > 0){//if the message is not empty, put the received information in string s
nBTCmdRdErrorStatus = cCmdMessageRead(nRcvBuffer, nSizeOfMessage, INBOX);
nRcvBuffer[nSizeOfMessage] = '\0';
stringFromChars(*s, (char *) nRcvBuffer);
displayCenteredBigTextLine(4, *s);
break;
}
wait1Msec(100);//no need to do a continues check every 100 miliseconds is enough
}
}
task main ()
{
// This struct holds all the sensor related data
tDIMC compass;
tSensors DIMC = S1;
// Our local variables
short strength = 0;
// Fire up the compass and initialize it. Only needs to be done once.
if (!initSensor(&compass, DIMC))
playSound(soundException);
// Loop forever, reading the sensor and calulating total
// field strength
while (true)
{
// Read the Compass
if (!readSensor(&compass))
playSound(soundException);
// calculate the field strength
strength = sqrt(pow(compass.axes[0], 2) + pow(compass.axes[1], 2) + pow(compass.axes[2], 2));
// Play a tone of the frequency of the field strength
// Great for annoying the cat/dog/wife/parent
playImmediateTone(strength, 8);
// display on the screen
displayCenteredBigTextLine(3, "%d", strength);
sleep(50);
}
}
// Allow the user to calibrate the scales
void calibrateScales()
{
short calibrateWeight = 0;
eraseDisplay();
displayCenteredTextLine(0, "GlideWheel-AS");
displayCenteredTextLine(2, "Place the object");
displayCenteredTextLine(3, "on the scales");
displayCenteredTextLine(4, "and press");
displayCenteredTextLine(5, "[enter]");
displayCenteredTextLine(6, "to calibrate");
while (nNxtButtonPressed != kEnterButton) sleep(1);
debounce();
eraseDisplay();
calibrateWeight = weighObject();
displayCenteredTextLine(0, "GlideWheel-AS");
displayCenteredTextLine(2, "Enter the weight");
displayCenteredTextLine(3, "in grams");
displayCenteredTextLine(7, "- OK +");
while (true)
{
displayCenteredBigTextLine(5, "%d", calibrateWeight);
switch(nNxtButtonPressed)
{
case kLeftButton: playTone(500,10); calibrateWeight--; calibrateWeight = max2(0, calibrateWeight); break;
case kRightButton: playTone(1000,10); calibrateWeight++; break;
case kEnterButton: playTone(1500,10);gramsPerUnit = (float)calibrateWeight / (float)MSANGreadRaw(MSANG); eraseDisplay(); return;
}
sleep(20);
debounce();
}
}
task main(){
displayCenteredTextLine(0, "Dexter Ind.");
displayCenteredBigTextLine(1, "IMU");
displayCenteredTextLine(3, "Test 2");
displayCenteredTextLine(5, "Connect sensor");
displayCenteredTextLine(6, "to S1");
sleep(2000);
eraseDisplay();
// Fire up the gyro and initialize it. Only needs to be done once.
//DIMUconfigGyro(DIMU, DIMU_GYRO_RANGE_500);
if (!DIMUconfigAccel(DIMU, DIMU_ACC_RANGE_2G))
playSound(soundException);
if(!DIMUconfigGyro(DIMU, DIMU_GYRO_RANGE_250, true))
playSound(soundException);
for (short i = 0; i < 500; i++){
// Read the GYROSCOPE
// There are 3 ways to do this:
// All at once, very convenient if you need all 3
DIMUreadGyroAxes(DIMU, xvals[i], yvals[i], zvals[i]);
sleep(5);
}
for (short i = 0; i< 500; i++) {
writeDebugStream("%f, %f", xvals[i], yvals[i]);
writeDebugStreamLine(", %f", zvals[i]);
sleep(2);
}
}
task main () {
displayCenteredTextLine(0, "Mindsensors");
displayCenteredBigTextLine(1, "TMUX");
displayCenteredTextLine(3, "SMUX Test");
displayCenteredTextLine(5, "Connect SMUX to");
displayCenteredTextLine(6, "S1 and TMUX to");
displayCenteredTextLine(7, "SMUX Port 1");
sleep(2000);
while (true) {
eraseDisplay();
displayTextLine(0, "MS Touch MUX");
// Get the raw data from the sensor, this is not processed
// by the driver in any way.
displayTextLine(1, "Raw: %d", 1023 - HTSMUXreadAnalogue(MSTMUX));
// Go through each possible touch switch attached to the TMUX
// and display whether or not is active (pressed)
for (short i = 1; i < 4; i++) {
if (MSTMUXisActive(MSTMUX, i))
displayTextLine(i+2, "Touch %d: on", i);
else
displayTextLine(i+2, "Touch %d: off", i);
}
// Display the binary value of the active touch switches
// 0 = no touch, 1 = touch 1 active, 2 = touch 2 active, etc.
// touch 1 + touch 2 active = 1 + 2 = 3.
displayTextLine(7, "Status: %d", MSTMUXgetActive(MSTMUX));
sleep(50);
}
}
task main () {
short keys = 0;
unsigned byte key[] = {0};
short number = 0;
string output;
displayCenteredTextLine(0, "Mindsensors");
displayCenteredBigTextLine(1, "NumPad");
displayCenteredTextLine(3, "Test 1");
displayCenteredTextLine(5, "Connect sensor");
displayCenteredTextLine(6, "to S1");
sleep(2000);
eraseDisplay();
displayCenteredTextLine(0, "Mindsensors NP");
displayTextLine(1, "-------------------");
displayTextLine(5, "-------------------");
displayTextLine(7, "X: no key");
while (true) {
// Which key is being pressed now?
if (!MSNPscanKeys(MSNP, keys, key[0], number))
stopAllTasks();
// "convert" to string so we can print it
output = key;
displayTextLine(3, "Numpad Key: %s", output);
displayTextLine(4, "Numpad Num: %d", number);
sleep(100);
}
}
task main () {
short red = 0;
short green = 0;
short blue = 0;
short _color = 0;
string _tmp;
displayCenteredTextLine(0, "HiTechnic");
displayCenteredBigTextLine(1, "COLOUR");
displayCenteredTextLine(3, "Test 1");
displayCenteredTextLine(5, "Connect sensor");
displayCenteredTextLine(6, "to S1");
sleep(2000);
eraseDisplay();
while (true) {
// Read the currently detected colour from the sensor
_color = HTCSreadColor(HTCS);
// If colour == -1, it implies an error has occurred
if (_color < 0) {
displayTextLine(4, "ERROR!!");
sleep(2000);
stopAllTasks();
}
// Read the RGB values of the currently colour from the sensor
// A return value of false implies an error has occurred
if (!HTCSreadRGB(HTCS, red, green, blue)) {
displayTextLine(4, "ERROR!!");
sleep(2000);
stopAllTasks();
}
displayCenteredTextLine(0, "Color: %d", _color);
displayCenteredBigTextLine(1, "R G B");
eraseRect(0,10, 99, 41);
fillRect( 0, 10, 30, 10 + (red+1)/8);
fillRect(35, 10, 65, 10 + (green+1)/8);
fillRect(70, 10, 99, 10 + (blue+1)/8);
StringFormat(_tmp, " %3d %3d", red, green);
displayTextLine(7, "%s %3d", _tmp, blue);
sleep(100);
}
}
// main task
task main ()
{
displayCenteredTextLine(0, "HiTechnic");
displayCenteredBigTextLine(1, "IR Seekr");
displayCenteredTextLine(3, "Test 1");
displayCenteredTextLine(5, "Press enter to");
displayCenteredTextLine(6, "switch between");
displayCenteredTextLine(7, "600 and 1200 Hz");
sleep(2000);
// Create struct to hold sensor data
tHTIRS2 irSeeker;
// Initialise and configure struct and port
initSensor(&irSeeker, S1);
while(true)
{
// You can switch between the two different DSP modes by pressing the
// orange enter button
playSound(soundBeepBeep);
while(bSoundActive)
{}
eraseDisplay();
// display the current DSP mode
if (irSeeker.mode == DSP_1200)
displayTextLine(0, " DC 1200");
else
displayTextLine(0, " DC 600");
while (true)
{
if (getXbuttonValue(xButtonEnter))
{
// "Enter" button has been pressed. Need to switch mode
irSeeker.mode = (irSeeker.mode == DSP_1200) ? DSP_600 : DSP_1200;
while(getXbuttonValue(xButtonEnter))
{
sleep(1);
}
break;
}
// Read the sensor data.
readSensor(&irSeeker);
displayTextLine(1, "D:%4d %4d 3%d", irSeeker.dcDirection, irSeeker.acDirection, irSeeker.enhDirection);
displayTextLine(2, "0:%4d %d", irSeeker.dcValues[0], irSeeker.acValues[0]);
displayTextLine(3, "0:%4d %4d", irSeeker.dcValues[1], irSeeker.acValues[1]);
displayTextLine(4, "0:%4d %4d %3d", irSeeker.dcValues[2], irSeeker.acValues[2], irSeeker.enhStrength);
displayTextLine(5, "0:%4d %4d", irSeeker.dcValues[3], irSeeker.acValues[3]);
displayTextLine(6, "0:%4d %4d", irSeeker.dcValues[4], irSeeker.acValues[4]);
displayTextLine(7, "Enter to switch");
}
}
}
int bleutooth_control(string *s){
/*
This code is for taking over the robot completely using bleutooth to make sure you can stop de robot in case its needed.
pressing the middle button ("FIRE") on the phone stops the robot due to it not being included in the code here.
To get in to this function you have to press "B"
*/
TFileIOResult nBTCmdRdErrorStatus;
int nSizeOfMessage;
ubyte nRcvBuffer[kMaxSizeOfMessage];
int stopcode = 0;
while (*s != "A"){//if A is pressed the robot will resume its duty the normal way
nSizeOfMessage = cCmdMessageGetSize(INBOX);
if (nSizeOfMessage > kMaxSizeOfMessage){
nSizeOfMessage = kMaxSizeOfMessage;
}
if (nSizeOfMessage > 0){
nBTCmdRdErrorStatus = cCmdMessageRead(nRcvBuffer, nSizeOfMessage, INBOX);
nRcvBuffer[nSizeOfMessage] = '\0';
*s = "";
stringFromChars(*s, (char *) nRcvBuffer);//put bluetooth input in string s
displayCenteredBigTextLine(4, *s);
}
//The next 4 if statements are for controlling the robot manually
if(*s == "LEFT"){//if bleutooth input is left turn left
motor(motorA) = 0;
motor(motorB) = 30;
startTask(music);//make sure the music is running
}
else if(*s == "RIGHT"){//if bleutooth input is right turn right
motor(motorA) = 30;
motor(motorB) = 0;
startTask(music);
}
else if (*s == "UP"){//if bleutooth input is up drive forward
setMultipleMotors(50, motorB, motorA);
startTask(music);
}
else if (*s == "DOWN"){//if bleutooth input is down drive backwards
setMultipleMotors(-50, motorB, motorA);
startTask(music);
}
else {//if there is no correct input turn off the motors
setMultipleMotors(0, motorA, motorB);
stopTask(music);//make sure the music is stopped
clearSounds();//empty the buffer
}
if (*s == "C"){//if the C button is pressed the loop stops and the stopcode == 1 to stop de code from running
stopcode = 1;
stopTask(music);
clearSounds();
break;
}
}
*s = "";//make sure s is empty
return stopcode;//output of the function used to stop the code if chosen
}
task main()
{
while (true)
{
int gyroValue = SensorValue[GyroSensor] - 589;
displayCenteredBigTextLine(3, "%i", gyroValue);
wait1Msec(10);
}
}
/*-----------------------------------------------------------------------------*/
void
iqRunDisplayLogo()
{
#ifdef _LOGO
drawBitmap( logo );
#else
displayCenteredBigTextLine(2, "ROBOTC");
#endif
}
task main()
{
displayCenteredTextLine(0, "Station");
displayCenteredBigTextLine(1, "RoboTaxi");
displayCenteredTextLine(3, "Using A*");
displayCenteredTextLine(5, "Ashesi");
displayCenteredTextLine(6, "Fall 2015");
sleep(5000);
eraseDisplay();
//store input from the numeric keypad
base_station();
//displays values received as location and destination
displayTextLine(1, "Test Values: ");
displayTextLine(2, "Xval: %d", passenger_location_x);
displayTextLine(3, "Yval: %d", passenger_location_y);
displayTextLine(4, "XDest: %d", passenger_destination_x);
displayTextLine(5, "YDest: %d", passenger_destination_y);
wait1Msec(100);
goal_x = passenger_destination_x;
goal_y = passenger_destination_y;
//find goal with taxi1 in mind
findGoal(taxi1base_x, taxi1base_y, passenger_location_x, passenger_location_y);
//get distance from taxi1 to passenger
int dist1 = get_distance(taxi1base_x, taxi1base_y, passenger_location_x, passenger_location_y);
//find goal with taxi2 in mind
findGoal(taxi2base_x, taxi2base_y, passenger_location_x, passenger_location_y);
//get distance from taxi2 to passenger
int dist2 = get_distance(taxi2base_x, taxi2base_y, passenger_location_x, passenger_location_y);
//compare distances between taxis and passengers. select taxi with shorter distance
if (dist1 < dist2){//if taxi1 is shorter
eraseDisplay();
displayTextLine(1, "taxi 1 ");
wait1Msec(500);
sendMessageWithParm(TAXI1LOC,passenger_location_x,passenger_location_y);//11 is location to taxi1
wait1Msec(500);
displayTextLine(1, "to taxi 1.1 ");
sendMessageWithParm(TAXI1DEST,passenger_destination_x,passenger_destination_y);//12 is destination to taxi1
wait1Msec(500);
displayTextLine(1, "to taxi 1.2 ");
}
else {//if taxi2 is shorter
displayTextLine(1, "taxi 2 ");
wait1Msec(500);
sendMessageWithParm(TAXI2LOC,passenger_location_x,passenger_location_y);//21 is location to taxi2
wait1Msec(500);
displayTextLine(1, "to taxi 2.1 ");
sendMessageWithParm(TAXI2DEST,passenger_destination_x,passenger_destination_y);//22 is destination to taxi2
wait1Msec(500);
displayTextLine(1, "to taxi 2.2 ");
}
}
// Display the instructions to the user
void displayInstructions()
{
displayCenteredTextLine(0, "HiTechnic");
displayCenteredBigTextLine(1, "IR Seekr");
displayCenteredTextLine(3, "Test 1");
displayCenteredTextLine(5, "Press enter to");
displayCenteredTextLine(6, "switch between");
displayCenteredTextLine(7, "600 and 1200 Hz");
sleep(2000);
}
/**
* Show a fancy startup display
*/
void StartupDisplay()
{
displayCenteredBigTextLine(0, "WiFi");
displayCenteredTextLine(3, "Program to test");
displayCenteredTextLine(4, "Network with ");
displayCenteredTextLine(5, "WifiBlock");
sleep(2000);
eraseDisplay();
return;
}
task main () {
short soundraw = 0;
short soundnorm = 0;
bool dba = false;
nNxtButtonTask = -2;
displayCenteredTextLine(0, "Lego");
displayCenteredBigTextLine(1, "Sound");
displayCenteredTextLine(3, "SMUX Test");
displayCenteredTextLine(5, "Connect SMUX to");
displayCenteredTextLine(6, "S1 and snd sensor");
displayCenteredTextLine(7, "to SMUX Port 1");
sleep(2000);
eraseDisplay();
displayTextLine(0, "Lego Sound Sensor");
displayTextLine(6, "[enter] to switch");
displayTextLine(7, "dB and dBA mode");
// Set the sensor to dB mode.
SNDsetDB(LEGOSND);
displayCenteredTextLine(1, "dB mode");
while(true) {
// The enter button has been pressed, switch
// to the other mode
if (nNxtButtonPressed == kEnterButton) {
dba = !dba;
if (!dba) {
// set the sensor to DB mode
SNDsetDB(LEGOSND);
displayCenteredTextLine(1, "dB mode");
} else {
// set the sensor to dBA mode.
SNDsetDBA(LEGOSND);
displayCenteredTextLine(1, "dBA mode");
}
// wait 500ms to debounce the switch
sleep(500);
}
// Read the normalised value of the sensor
soundraw = SNDreadRaw(LEGOSND);
// Display the raw and normalised values
soundnorm = SNDreadNorm(LEGOSND);
// display the info from the sensor
displayTextLine(3, "Raw: %3d", soundraw);
displayTextLine(4, "Norm: %3d", soundnorm);
sleep(50);
}
}
task main() {
displayCenteredTextLine(0, "Mindsensors");
displayCenteredBigTextLine(1, "PFMate");
displayCenteredTextLine(3, "Test 1");
sleep(2000);
// Run through each channel for testing.
for (short channel = 1; channel < 5; channel++) {
doTest(channel);
}
}
task main () {
string _tmp;
displayCenteredTextLine(0, "HiTechnic");
displayCenteredBigTextLine(1, "Color V2");
displayCenteredTextLine(3, "Test 1");
displayCenteredTextLine(5, "Connect sensor");
displayCenteredTextLine(6, "to S1");
sleep(2000);
// Create struct to hold sensor data
tHTCS2 colorSensor;
// Initialise and configure struct and port
initSensor(&colorSensor, S1);
eraseDisplay();
while (true)
{
// Read the currently detected colour and RGB/HSV data from the sensor
if (!readSensor(&colorSensor)) {
displayTextLine(4, "ERROR!!");
sleep(2000);
stopAllTasks();
}
displayCenteredTextLine(0, "Color: %d", colorSensor.color);
displayCenteredBigTextLine(1, "R G B");
eraseRect(0,10, 99, 41);
fillRect( 0, 10, 30, 10 + (colorSensor.red+1)/8);
fillRect(35, 10, 65, 10 + (colorSensor.green+1)/8);
fillRect(70, 10, 99, 10 + (colorSensor.blue+1)/8);
StringFormat(_tmp, " %3d %3d", colorSensor.red, colorSensor.green);
displayTextLine(7, "%s %3d", _tmp, colorSensor.blue);
sleep(100);
}
}
// main task
task main ()
{
displayCenteredTextLine(0, "HiTechnic");
displayCenteredBigTextLine(1, "IRSeekr2");
displayCenteredTextLine(3, "SMUX Test");
displayCenteredTextLine(5, "Connect SMUX to");
displayCenteredTextLine(6, "S1 and sensor to");
displayCenteredTextLine(7, "SMUX Port 1");
sleep(2000);
// Create struct to hold sensor data
tHTIRS2 irSeeker;
// The sensor is connected to the first port
// of the SMUX which is connected to the NXT port S1.
// To access that sensor, we must use msensor_S1_1. If the sensor
// were connected to 3rd port of the SMUX connected to the NXT port S4,
// we would use msensor_S4_3
// Initialise and configure struct and port
initSensor(&irSeeker, msensor_S3_2);
wait1Msec(2000);
eraseDisplay();
time1[T1] = 0;
// You can switch between the two different DSP modes by pressing the
// orange enter button
playSound(soundBeepBeep);
while(bSoundActive)
{}
eraseDisplay();
displayCenteredTextLine(0, "DC 1200");
while (true)
{
// Read the sensor data.
readSensor(&irSeeker);
displayTextLine(1, "D:%4d:%4d:3%d", irSeeker.dcDirection, irSeeker.acDirection, irSeeker.enhDirection);
displayTextLine(2, "0:%4d:%d", irSeeker.dcValues[0], irSeeker.acValues[0]);
displayTextLine(3, "0:%4d:%4d", irSeeker.dcValues[1], irSeeker.acValues[1]);
displayTextLine(4, "0:%4d:%4d:%3d", irSeeker.dcValues[2], irSeeker.acValues[2], irSeeker.enhStrength);
displayTextLine(5, "0:%4d:%4d", irSeeker.dcValues[3], irSeeker.acValues[3]);
displayTextLine(6, "0:%4d:%4d", irSeeker.dcValues[4], irSeeker.acValues[4]);
displayTextLine(7, "Enter to switch");
sleep(500);
}
}
// Updates the string s to give it the value of the last input of the app.
void CheckString(){
TFileIOResult nBTCmdRdErrorStatus;
int nSizeOfMessage;
ubyte nRcvBuffer[kMaxSizeOfMessage];
nSizeOfMessage = cCmdMessageGetSize(INBOX);
if (nSizeOfMessage > kMaxSizeOfMessage){
nSizeOfMessage = kMaxSizeOfMessage;
}
if (nSizeOfMessage > 0){
nBTCmdRdErrorStatus = cCmdMessageRead(nRcvBuffer, nSizeOfMessage, INBOX);
nRcvBuffer[nSizeOfMessage] = '\0';
stringFromChars(s, (char *) nRcvBuffer);
displayCenteredBigTextLine(4, s);
}
}
// Use parameters gathered from command to move the motors, extrude, that sort of thing
void executeCommand(string gcmd, float x, float y, float z, float e, float f)
{
float motorDegrees; // Amount the motor has to move
float deltaPosition; // The difference between the current position and the one we want to move to
// execute functions inside this algorithm
if (strcmp(gcmd, "G1") == 0 ){
if(x != noParam){
writeDebugStreamLine("\n---------- X AXIS -------------");
long xPower = setXSpeed * calcMotorPower(x, y, z);
deltaPosition = calcDeltaDistance(xAxisPosition, x);
motorDegrees = calcMotorDegrees(deltaPosition, XdegreesToMM);
moveMotorAxis(x_axis, motorDegrees, xPower);
xPower = setXSpeed;
}
if(y != noParam){
writeDebugStreamLine("\n---------- Y AXIS -------------");
long yPower = setYSpeed;
deltaPosition = calcDeltaDistance(yAxisPosition, y);
motorDegrees = calcMotorDegrees(deltaPosition, YdegreesToMM);
moveMotorAxis(y_axis, motorDegrees, yPower);
yPower = setYSpeed;
}
if(z != noParam){
writeDebugStreamLine("\n---------- Z AXIS -------------");
long zPower = calcMotorPower(x, y, z);
deltaPosition = calcDeltaDistance(zAxisPosition, z);
motorDegrees = calcMotorDegrees(deltaPosition, ZdegreesToMM);
moveMotorAxis(z_axis, motorDegrees, zPower);
}
#ifndef DISABLE_MOTORS
waitForMotors();
#endif
}
//this is where to add else if statements for new g commands
else
{
//error
displayCenteredBigTextLine(1 , "error! :: gcmd value is unknown!");
}
}
task main() {
short raw = 0;
short nrm = 0;
bool active = true;
// Turn the light on
LSsetActive(LEGOLS);
displayCenteredTextLine(0, "Lego");
displayCenteredBigTextLine(1, "LIGHT");
displayCenteredTextLine(3, "SMUX Test");
displayCenteredTextLine(5, "Connect SMUX to");
displayCenteredTextLine(6, "S1 and sensor to");
displayCenteredTextLine(7, "SMUX Port 1");
sleep(2000);
displayClearTextLine(7);
displayTextLine(5, "Press [enter]");
displayTextLine(6, "to toggle light");
sleep(2000);
while (true) {
// The enter button has been pressed, switch
// to the other mode
if (getXbuttonValue(xButtonEnter))
{
active = !active;
if (!active)
LSsetInactive(LEGOLS);
else
LSsetActive(LEGOLS);
// wait 500ms to debounce the switch
sleep(500);
}
displayClearTextLine(5);
displayClearTextLine(6);
raw = LSvalRaw(LEGOLS);
nrm = LSvalNorm(LEGOLS);
displayTextLine(5, "Raw: %4d", raw);
displayTextLine(6, "Norm: %4d", nrm);
sleep(50);
}
}
/**
* The main task
*/
task main(){
displayCenteredTextLine(0, "Dexter Ind.");
displayCenteredBigTextLine(1, "IMU");
displayCenteredTextLine(3, "Test 3");
displayCenteredTextLine(5, "Connect sensor");
displayCenteredTextLine(6, "to S1");
sleep(2000);
eraseDisplay();
// If configuration fails, the program ends.
if (!DIMUconfigAccel(DIMU, DIMU_ACC_RANGE_2G))
{
playSound(soundException);
while(bSoundActive){}
stopAllTasks();
}
while(nNxtButtonPressed == kNoButton)
{
z_val = DIMUreadAccelZAxis10Bit(DIMU);
x_val = DIMUreadAccelXAxis10Bit(DIMU);
// Since the axes are constantly 90 degrees apart, we can use the sum of forces law,
// which looks like the pythagorean theorem, to discover the total force along both axes.
Gforce = sqrt(pow(z_val, 2) + pow(x_val, 2));
// Then we divide both values received by the total force to get numbers on the interval [-1,1].
// This way we can input them into the arcsine and arccosine functions.
z_val = z_val/Gforce;
x_val = x_val/Gforce;
pXrads[0] = asin(x_val);
pXrads[1] = PI-pXrads[0]; //other possible X tilt value.
pZrads[0] = acos(z_val);
pZrads[1] = -1*pZrads[0]; //other possible Z tilt value.
normalize();
displayArrow(radiansToDegrees(match()));
// This stops the screen from flashing.
sleep(100);
}
}
task main () {
short _dir = 0;
short dcS1, dcS2, dcS3, dcS4, dcS5 = 0;
displayCenteredTextLine(0, "HiTechnic");
displayCenteredBigTextLine(1, "IR Seekr");
displayCenteredTextLine(3, "Test 1");
displayCenteredTextLine(5, "This is for the");
displayCenteredTextLine(6, "v1 seeker");
sleep(2000);
while(true) {
eraseDisplay();
// read all of the sensors' values at once,
// exit the app if an error occurs
if (! HTIRSreadAllStrength(HTIRS, dcS1, dcS2, dcS3, dcS4, dcS5)) {
displayTextLine(4, "ERROR!!");
sleep(2000);
stopAllTasks();
}
// read the direction from which the signal is coming,
// exit the app if an error occurs
_dir = HTIRSreadDir(HTIRS);
if (_dir < 0) {
displayTextLine(4, "ERROR!!");
sleep(2000);
stopAllTasks();
}
// display the info from the sensor
displayTextLine(0,"HT IR Seeker");
displayTextLine(2, "dir: %2d", _dir);
displayTextLine(3, "S1: %3d", dcS1);
displayTextLine(4, "S2: %3d", dcS2);
displayTextLine(5, "S3: %3d", dcS3);
displayTextLine(6, "S4: %3d", dcS4);
displayTextLine(7, "S5: %3d", dcS5);
sleep(100);
}
}
