/*
=============================================================================
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() {
StartTask(USNEW);
StartTask(USOLD);
StartTask(pAxies);
MSSUMOsetShortRange(HTMSSUMO);
while(true)
{
runSensors();
nxtDisplayCenteredBigTextLine(1, "X: %d", xA);
nxtDisplayCenteredBigTextLine(3, "Y: %d", yA);
nxtDisplayCenteredBigTextLine(5, "Z: %d", zA);
zone = MSSUMOreadZone(HTMSSUMO);
switch (zone)
{
case MSSUMO_FRONT:
allStop();
break;
case MSSUMO_LEFT:
turnRight();
break;
case MSSUMO_RIGHT:
turnLeft();
break;
case MSSUMO_NONE:
allGo();
break;
}
if ((us_NewResult < 14 ) || ( us_OldResult < 14 ))
{
sonarObsticalCheck(1);
}
if ( xA < -25)
{
allStall();
wait1Msec(500);
allBack();
wait1Msec(1000);
sonarObsticalCheck(3);
}
if ( yA < -25)
{
allStall();
wait1Msec(500);
allBack();
wait1Msec(1000);
sonarObsticalCheck(3);
}
}
}
//Lets Get this thing moving!
task main() {
// Start up the two sonar sensors and their config files
StartTask(USNEW);
StartTask(USOLD);
//Start up the IDMU config
StartTask(pAxies);
// Set Sumo to Long Range
MSSUMOsetShortRange(HTMSSUMO);
while(true) {
zone = MSSUMOreadZone(HTMSSUMO);
// Check front IR sensor LEFT FRONT RIGHT
switch (zone) {
case MSSUMO_FRONT:
allStop();
break;
case MSSUMO_LEFT:
turnRight();
break;
case MSSUMO_RIGHT:
turnLeft();
break;
case MSSUMO_NONE:
allGo();
break;
}
// Check left and right sonar sensors for objects
if ((us_NewResult < 12 ) || ( us_OldResult < 12 )){
sonarObsticalCheck(1);
} else if ( ( yA > 35 ) || ( xA > 35 ) ){
allStall();
wait1Msec(500);
allBack();
wait1Msec(1000);
sonarObsticalCheck(3);
//checkLevel();
}
}
}
/*
=============================================================================
main task with some testing code
*/
task main() {
// Standard range is set to short range
bool shortrange = true;
tObstacleZone zone = 0;
nNxtButtonTask = -2;
eraseDisplay();
nxtDisplayCenteredTextLine(0, "Mindsensors");
nxtDisplayCenteredBigTextLine(1, "SumoEyes");
nxtDisplayCenteredTextLine(3, "Test 2");
nxtDisplayCenteredTextLine(5, "Press enter to");
nxtDisplayCenteredTextLine(6, "switch between");
nxtDisplayCenteredTextLine(7, "ranges");
wait1Msec(2000);
eraseDisplay();
// Set the sensor to short range
MSSUMOsetShortRange(HTMSSUMO);
nxtDisplayRICFile(0, 0, "sumonone.ric");
while(true) {
if (time1[T1] > 1000) {
if (shortrange == false) {
// set the sensor to short range and display this
MSSUMOsetShortRange(HTMSSUMO);
nxtDisplayCenteredTextLine(7, "Short range");
shortrange = true;
} else {
// set the sensor to long range and display this
MSSUMOsetLongRange(HTMSSUMO);
nxtDisplayCenteredTextLine(7, "Long range");
shortrange = false;
}
PlaySound(soundBeepBeep);
while(bSoundActive)
time1[T1] = 0;
}
while(nNxtButtonPressed != kEnterButton) {
zone = MSSUMOreadZone(HTMSSUMO);
if (shortrange) {
switch (zone) {
case MSSUMO_NONE: nxtDisplayRICFile(0, 0, "sumonone.ric"); break;
case MSSUMO_FRONT: nxtDisplayRICFile(0, 0, "sumoSF.ric"); break;
case MSSUMO_RIGHT: nxtDisplayRICFile(0, 0, "sumoSL.ric"); break;
case MSSUMO_LEFT: nxtDisplayRICFile(0, 0, "sumoSR.ric"); break;
}
nxtDisplayCenteredTextLine(7, "Short range");
} else {
switch (zone) {
case MSSUMO_NONE: nxtDisplayRICFile(0, 0, "sumonone.ric"); break;
case MSSUMO_FRONT: nxtDisplayRICFile(0, 0, "sumoLF.ric"); break;
case MSSUMO_RIGHT: nxtDisplayRICFile(0, 0, "sumoLL.ric"); break;
case MSSUMO_LEFT: nxtDisplayRICFile(0, 0, "sumoLR.ric"); break;
}
nxtDisplayCenteredTextLine(7, "Long range");
}
wait1Msec(10);
}
}
}