/*! \brief Main entity routine
*
* The main routine that loops through the entity list and processes each
* one.
*/
void process_entities(void)
{
t_entity i;
const char *t_evt;
for (i = 0; i < MAX_ENT; i++)
{
if (g_ent[i].active == 1)
{
speed_adjust(i);
}
}
/* Do timers */
t_evt = get_timer_event();
if (t_evt)
{
do_timefunc(t_evt);
}
}
void linefollow(void){
//using float variable for the sensors to have the most accurate
float color;
float light;
float sonar;
// reading the sensor value
light = SensorValue[S2];
color = SensorValue[S1];
sonar = SensorValue[S3];
// displaying the values from above
nxtDisplayTextLine(1, "color: %d", color);
nxtDisplayTextLine(2, "light: %d", light);
nxtDisplayTextLine(3, "sonar: %d", sonar );
// if an object is closer then 30 centimeters do the folowing
if(sonar < 30) {
speed_adjust(60, 0, -4);//slow down
for (int i = 0; i < 10;){//slowly start turning
motor[motorA] = i;
motor[motorB] = -i;
wait(0.4);
i++;
}
while(1){//wait until you see the line
if (SensorValue[S2] < 60){
for (int i = 10; i < 0;){//slow down the turning speed
motor[motorA] = i;
motor[motorB] = -i;
wait(0.4);
i+=2;
}
break;
}
}
}
//redirect the robot by using the light sensor
else if (light < 69){
float formule;
float omrek;
float formule2;
omrek = light-39;
nxtDisplayTextLine(4, "lomrek : %d", omrek);
if(omrek<5){
formule =100;
formule2=0;
}
else if (omrek<10){
formule = -0.4*omrek+100;
formule2 = -1.428*omrek+50;
}
else{
formule = -0.9*omrek+100;
formule2 = -1.428*omrek+50;
}
//startTask(music);//starts the music
motor(motorA) = formule;//50+((60-light)*2.5)
motor(motorB) =formule2;//35 //0
}
// redirecting the robot by using hte color sensor
else if(color < 51) {//vorige waarde: 4
// float variables for best accurate values
float formule;
float omrek;
float formule2;
omrek = color-22;
nxtDisplayTextLine(5, "comrek : %d", omrek);
if(omrek<5)
{
formule =100;
formule2=0;
}
else if (omrek<10)
{
formule = -0.4*omrek+100;
formule2 = -1.428*omrek+50;
}
else {
formule = -0.9*omrek+100;
formule2 = -1.428*omrek+50;
}
startTask(music);//starts the music
motor(motorA) = formule2;//0
motor(motorB) =formule ;//50+(50-color)*1+(2/3))
}
else {
setMultipleMotors(50,motorA,motorB);//70 //100
}
}
void need_for_speed(void){
//using float variable for the sensors to have the most accurate
float color;
float light;
float sonar;
// reading the sensor value
light = SensorValue[S2];
color = SensorValue[S1];
sonar = SensorValue[S3];
// displaying the values from above
nxtDisplayTextLine(1, "color: %d", color);
nxtDisplayTextLine(2, "light: %d", light);
nxtDisplayTextLine(3, "sonar: %d", sonar );
// if an object is less than 15 centimeters the top
if(sonar <35) {
//setMultipleMotors(0,motorA,motorB);
speed_adjust(60, 0, -3, 0);
string s = "";
check_bleutooth(&s);//laten omdraaien moet nog
}
//redirect the robot by using the light sensor
else if (light < 65){
float formule;
float omrek;
float maal = 0;
omrek = 65-light;
formule = (65+(omrek)*(1+(2/3)));
nxtDisplayTextLine(4, "omrekrechts: %d", omrek );
if (omrek< 10){
maal =1.2;
}
else if(omrek>25){
maal = 2 +((omrek-25)*0.1);
}
else {
(maal = 1.2+(omrek-10)*0.055);
}
startTask (music);//starts music
motor(motorA) = formule;//50+((60-light)*2.5)
motor(motorB) =45-(omrek*maal);//35 //0
}
// redirecting the robot by using hte color sensor
else if(color < 48) {//vorige waarde: 4
// float variables for best accurate values
float formule;
float omrek;
float maal =0;
omrek = 48-color;
formule = (65+(omrek)*(1+(2/3)));
nxtDisplayTextLine(5, "omreklinks: %d", omrek );
if (omrek< 10){
maal = 1.2;
}
else if(omrek>25){
maal = 2 + ((omrek - 25)*0.1);
}
else{
maal=(1.2+(omrek-10)*0.055);
}
startTask (music);//starts music
motor(motorA) = 45-(omrek*maal);//0
motor(motorB) =formule ;//50+(50-color)*1+(2/3))
}
else {
setMultipleMotors(65,motorA,motorB);//70 //100
}
}
void linefollow(void) {
//using float variable for the sensors to have the most accurate
float color;
float light;
float sonar;
// reading the sensor value
light = SensorValue[S2];
color = SensorValue[S1];
sonar = SensorValue[S3];
// displaying the values from above
//nxtDisplayTextLine(1, "color: %d", color);
//nxtDisplayTextLine(2, "light: %d", light);
//nxtDisplayTextLine(3, "sonar: %d", sonar);
// if an object is closer then 30 centimeters do the folowing
if (sonar < 30) {
speed_adjust(60, 0, -4); //slow down
for (int i = 0; i < 10;) {//slowly start turning
motor[motorA] = i;
motor[motorB] = -i;
wait(0.4);
i++;
}
while (1) {//wait until you see the line
if (SensorValue[S2] < 60) {
for (int i = 10; i < 0;) {//slow down the turning speed
motor[motorA] = i;
motor[motorB] = -i;
wait(0.4);
i += 2;
}
break;
}
}
} //redirect the robot by using the light sensor
else if (light < (maxlight - 5)) {
// float variable for the formule math
float formule;
float omrek;
float formule2;
//omrek is used to can use the formules in every surroundings
omrek = light - minlight;
// show the result of the omrek on line 4
nxtDisplayTextLine(4, "lomrek : %f", omrek);
// if omrek is lower then 5 use 100 and 1 for a real sharp turn
if (omrek < 5) {
formule = 100;
formule2 = 1;
}// if the omrek is between 5 and 10 use a formule that gives a heavier control
else if (omrek < 10) {
formule = -0.4 * omrek + 100;
formule2 = -1.428 * omrek + 50;
}// the standaard formule for following the line
else {
formule = -0.9 * omrek + 100;
formule2 = -1.428 * omrek + 50;
}
startTask(music); //starts the music
// give the motor a and b the result of the formules
motor(motorA) = formule; //50+((60-light)*2.5)
motor(motorB) = formule2; //35 //0
} // redirecting the robot by using hte color sensor
else if (color < (maxcolor - 5)) {//vorige waarde: 4
// float variables for best accurate values
float formule;
float omrek;
float formule2;
//omrek is used to can use the formules in every surroundings
omrek = color - mincolor;
// show the result of the omrek on line 5
nxtDisplayTextLine(5, "comrek : %d", omrek);
// if omrek is lower then 5 use 100 and 1 for a real sharp turn
if (omrek < 5) {
formule = 100;
formule2 = 1;
}// if the omrek is between 5 and 10 use a formule that gives a heavier control
else if (omrek < 10) {
formule = -0.4 * omrek + 100;
formule2 = -1.428 * omrek + 50;
}// the standaard formule for following the line
else {
formule = -0.9 * omrek + 100;
formule2 = -1.428 * omrek + 50;
}
startTask(music); //starts the music
// give the motor a and b the result of the formules
motor(motorA) = formule2; //0
motor(motorB) = formule; //50+(50-color)*1+(2/3))
} else {
//if their isn't steering nessasary then both motors gets 50 as speed
setMultipleMotors(10, motorA, motorB); //70 //100
}
}
