task main () {
float ambient = 0;
float object = 0;
nxtDisplayCenteredTextLine(0, "Dexter Industries");
nxtDisplayCenteredTextLine(1, "Thermal Infrared");
nxtDisplayCenteredTextLine(3, "Test 1");
nxtDisplayCenteredTextLine(5, "Connect sensor");
nxtDisplayCenteredTextLine(6, "to S1");
wait1Msec(2000);
eraseDisplay();
// set emissivity for light skin
TIRsetEmissivity(TIR, TIR_EM_SKIN_LIGHT);
wait1Msec(200);
//emissivity = TIRreadEmissivity(TIR);
//nxtDisplayTextLine(5, "0x%04X", emissivity);
while (true) {
// Read the currently detected ambient and object temp from the sensor
ambient = TIRreadAmbientTemp(TIR);
object = TIRreadObjectTemp(TIR);
nxtDisplayTextLine(1, "A: %3.2f", ambient);
nxtDisplayTextLine(3, "O: %3.2f", object);
wait1Msec(100);
}
}
task main () {
int X = 0;
memset(data, 0, sizeof(data));
TIRresetSensor(TIR);
nxtDisplayCenteredTextLine(0, "Dexter Industries");
nxtDisplayCenteredTextLine(1, "Thermal Infrared");
nxtDisplayCenteredTextLine(3, "Test 1");
nxtDisplayCenteredTextLine(5, "Connect sensor");
nxtDisplayCenteredTextLine(6, "to S1");
wait1Msec(2000);
eraseDisplay();
// set emissivity for light skin
TIRsetEmissivity(TIR, TIR_EM_SKIN_LIGHT);
nMotorEncoderTarget[VERTICAL] = 200;
motor[VERTICAL] = -20;
while((nMotorRunState[VERTICAL] != runStateIdle) && (nMotorRunState[VERTICAL] != runStateHoldPosition)) EndTimeSlice();
nMotorEncoderTarget[HORIZONTAL] = 360;
motor[HORIZONTAL] = 20;
while((nMotorRunState[HORIZONTAL] != runStateIdle) && (nMotorRunState[HORIZONTAL] != runStateHoldPosition)) EndTimeSlice();
wait1Msec(500);
nMotorEncoder[HORIZONTAL] = 0;
nMotorEncoder[VERTICAL] = 0;
PlaySound(soundBeepBeep);
while(bSoundActive) EndTimeSlice();
for (int i = 0; i < 80; i++) {
wait1Msec(500);
X = 0;
memset(data, 0, sizeof(data));
nMotorEncoderTarget[HORIZONTAL] = 720;
motor[HORIZONTAL] = -40;
time1[T1] = 0;
while((nMotorRunState[HORIZONTAL] != runStateIdle) && (nMotorRunState[HORIZONTAL] != runStateHoldPosition)) {
data[X] = TIRreadObjectTemp(TIR);
X++;
wait1Msec(20);
}
nxtDisplayBigTextLine(1, "X: %d", X);
nxtDisplayBigTextLine(3, "T: %d", time1[T1]);
nMotorEncoderTarget[VERTICAL] = 5;
motor[VERTICAL] = 20;
nMotorEncoderTarget[HORIZONTAL] = 720;
motor[HORIZONTAL] = 60;
for (int j = 0; j < 200; j++) {
if (data[j] != 0) {
writeDebugStream("%3.2f,", data[j]);
wait1Msec(5);
}
}
writeDebugStreamLine("");
while((nMotorRunState[HORIZONTAL] != runStateIdle) && (nMotorRunState[HORIZONTAL] != runStateHoldPosition))
EndTimeSlice();
}
bFloatDuringInactiveMotorPWM = true;
wait1Msec(10);
}
