C++ (Cpp) FLACretractLA Examples

Example #1

File: firgelli-linearact-test3.c Project: CatalystRobotics/CatalystRobotics

task main () {
  tMotor testMotor = motorA;

  PlaySound(soundBeepBeep);
  nxtDisplayBigTextLine(3, "Retract");
  FLACretractLA(testMotor, 100);
  wait1Msec(500);

  // This stops the motor, handy in case of emergencies
  FLACstopLA(motorA);
  while(!isDone(testMotor)) wait1Msec(50);
  wait1Msec(200);
  nMotorEncoder[testMotor] = 0;
  wait1Msec(1000);

  PlaySound(soundBeepBeep);
  eraseDisplay();
  nxtDisplayBigTextLine(1, "Extend");
  nxtDisplayTextLine(3, "ticks:  40");
  nxtDisplayTextLine(4, "speed:  50");
  FLACextendLA(testMotor, 50, 40);
  while(!isDone(testMotor)) wait1Msec(50);
  if (isStalled(testMotor))
    nxtDisplayTextLine(7, "STALLED");
  wait1Msec(1000);


  PlaySound(soundBeepBeep);
  eraseDisplay();
  nxtDisplayBigTextLine(1, "Done");
  wait1Msec(2000);
}

Example #2

File: firgelli-linearact-test1.c Project: EastsidePreparatorySchool/EPSilonBlue

task main () {
  tMotor testMotor = motorA;

  PlaySound(soundBeepBeep);
  nxtDisplayBigTextLine(3, "Retract");
  FLACretractLA(testMotor, 100);
  while(!isDone(testMotor)) wait1Msec(50);
  wait1Msec(200);
  nMotorEncoder[testMotor] = 0;
  wait1Msec(1000);

  PlaySound(soundBeepBeep);
  eraseDisplay();
  nxtDisplayBigTextLine(1, "Extend");
  nxtDisplayTextLine(3, "ticks:  40");
  nxtDisplayTextLine(4, "speed:  50");
  FLACextendLA(testMotor, 50, 40);
  while(!isDone(testMotor)) wait1Msec(50);
  if (isStalled(testMotor))
    nxtDisplayTextLine(7, "STALLED");
  wait1Msec(1000);

  PlaySound(soundBeepBeep);
  eraseDisplay();
  nxtDisplayBigTextLine(1, "Extend");
  nxtDisplayTextLine(3, "ticks: 100");
  nxtDisplayTextLine(4, "speed:  80");
  FLACextendLA(testMotor, 80, 100);
  while(!isDone(testMotor)) wait1Msec(50);
  if (isStalled(testMotor))
    nxtDisplayTextLine(7, "STALLED");
  wait1Msec(1000);
  eraseDisplay();

  PlaySound(soundBeepBeep);
  nxtDisplayBigTextLine(1, "Retract");
  nxtDisplayTextLine(3, "ticks: 120");
  nxtDisplayTextLine(4, "speed: 100");
  FLACtretractLA(testMotor, 100, 120);
  while(!isDone(testMotor)) wait1Msec(50);
  if (isStalled(testMotor))
    nxtDisplayTextLine(7, "STALLED");
  wait1Msec(1000);

  PlaySound(soundBeepBeep);
  nxtDisplayBigTextLine(1, "Retract");
  nxtDisplayTextLine(3, "ticks:  20");
  nxtDisplayTextLine(4, "speed: 100");
  FLACtretractLA(testMotor, 100, 20);
  while(!isDone(testMotor)) wait1Msec(50);
  if (isStalled(testMotor))
    nxtDisplayTextLine(7, "STALLED");
  wait1Msec(1000);

  PlaySound(soundBeepBeep);
  eraseDisplay();
  nxtDisplayBigTextLine(1, "Done");
  wait1Msec(2000);
}