int main() { printf("Line Follow."); // announce the program sleep(1.0); // wait 1 second create_connect(); // Open the connection between CBC and Create int ana0 = 0, ana1 = 0; // variables to store the results of the analog sensors create_full(); // We don't care about safety while(get_create_lbump(0) == 0 && get_create_rbump(0) == 0){ //while the bumper is not pressed ana0 = analog10(0); // left sensor ana1 = analog10(1); // right sensor printf("analog 0: %d\n", ana0);// print results printf("analog 1: %d\n", ana1); if((ana0 < 200) && (ana1 > 200)) // if the left sensor is off and right is on black line { create_spin_CW(128); // spin the create Clock Wise }else if((ana1 < 200) && (ana0 > 200)) // else if reversed { create_spin_CCW(128); // spin Counter Clock Wise }else if((ana0 < 200) && (ana1 < 200)) // else neither is on the line { create_drive_straight(180); // drive straight } } create_stop(); // Stop the Create create_disconnect(); // Disconnect the Create }
/* * Class: cbccore_low_Create * Method: create_full * Signature: ()V */ JNIEXPORT void JNICALL Java_cbccore_low_Create_create_1full(JNIEnv *env, jobject obj) { #ifdef CBC create_full(); #else printf("Java_cbccore_low_Create_create_1full stub\n"); #endif }
int main() { create_connect(); init_servo(); //light_it_up(LIGHT_PORT); lightstart(LIGHT_PORT,120.0); create_full(); create_drive_segment(HIGH_SPEED, -150); start_process(set_top); create_drive_arc(HIGH_SPEED, -200, 155); create_drive_segment(HIGH_SPEED, -365); create_drive_arc(HIGH_SPEED, 90, -64); create_drive_segment(HIGH_SPEED, -85); create_cease(); set_top(); align_twall(); grab_top_de(); create_spin_angle(400,-165); create_drive_segment(HIGH_SPEED, -320); //align_wall(); create_stop(); create_sync(); dump_kelp_de(); create_drive_segment(HIGH_SPEED,30);//go away from starting box create_spin_angle(HIGH_SPEED, -78);//turn to gate part 1 create_drive_segment(HIGH_SPEED, 938);//go to gate create_drive_arc(HIGH_SPEED,185,84);//arc to gate //create_drive_time(HIGH_SPEED,1800);//go through the gate /* create_drive_segment(HIGH_SPEED,1470); create_drive_segment(HIGH_SPEED,-100); create_spin_angle(HIGH_SPEED,78); */ create_cease(); create_drive_straight(HIGH_SPEED);//go onto oppponent's side of board msleep(1400); create_stop(); create_arc(350,550);//arc to the opponent's mpa msleep(2500L); create_stop();//pause to keep the creat create_drive_straight(HIGH_SPEED);//go onto oppponent's side of board msleep(750); create_stop(); create_drive_straight(-HIGH_SPEED);//go onto oppponent's side of board msleep(5000); create_stop(); /* create_drive_segment(500,-500);//go past the IC create_drive_arc(320,-250,25);//arc to create_drive_arc(320,250,-8); */ //create_drive_segment(HIGH_SPEED,-750); //create_drive_arc(HIGH_SPEED,100,84); //create_drive_segment(HIGH_SPEED,1300); }
int main() { create_connect(); create_full(); while(digital(15) == 0); create_drive_direct(-1500, -1500); while(!(a_button_clicked())); return 0; }
int main() { create_connect(); create_full(); while(!(a_button_clicked())){ display_clear(); printf("cw:%d\nlw:%d\nrw:%d\n", get_create_cwdrop(), get_create_lwdrop(), get_create_rwdrop()); msleep(20); } return 0; }
int main() { ROBOT = CREATE_ROBOT; create_connect(); set_speeds(); create_full(); // test_modest_forward_backward(); test_modest_left_right(); return SUCCESS; }
int main() { create_connect(); create_full(); float sec = seconds(); set_create_distance(0); create_drive_distance(50, get_pot_reading(1, 1, 50), FORWARDS); printf("distance traveled = %i, time = %f\n", get_create_distance(), seconds() - sec); //sleep(2); //create_spin_degrees(90, 300, LEFT); //printf("%d\n", i); create_disconnect(); return 0; }
int main() { create_connect(); enable_servo(ccport); create_full(); start_morse(); morse("Botball", 1); /* motor(1,100); motor(0,-100); motor(1,0); msleep(5000); motor(3,100); wait_for_morse(); motor(0,0); motor(3,0); */ create_disconnect(); }
void main() { networkSetup(); if (create_connect())exit(0); sleep(1); create_full(); connectToServer(); //control() in new thread int unused = 0; pthread_t controlThread; int threadError = pthread_create (&controlThread,NULL,control, &unused); if(threadError) { printf("thread could not be started! \nerror: %d \nexiting program!\n",threadError); exit(0); } serverCommunication(); }
int main() { printf("initializing. please wait.\n"); enable_servos(); sleep(.25); mav(3,100); sleep(.8); off(3); enableServoDown(); sleep(.5); release(); set_servo_position(1,120); // mini servo down mav(3, 400); // move arm to open position -- test values -- should be slightly angeled forwards sleep(1); off(3); printf("servos initalized.\n"); create_connect(); create_full(); set_create_total_angle(0); printf("create initialized.\n"); benDance(); }
int main() { get_mode(); create_connect(); create_full(); set_servo_position(BAR_SERVO, BAR_CLOSED_POSITION); set_servo_position(CLAW_SERVO, CLAW_OPEN_POSITION); set_servo_position(GYRO_SERVO, GYRO_SETTING_POSITION); enable_servos(); msleep(3000); // operate_winch(WINCH_START_POSITION); // set_servo_position(GYRO_SERVO, GYRO_START_POSITION); // press_a_to_continue(); // set_servo_position(GYRO_SERVO, GYRO_SETTING_POSITION); // msleep(2000); drop_three_hangers(); //pick_up_first_doubler(); pick_up_cube(); create_disconnect(); return 0; }
int main() { printf("checklist"); printf("hit black button when ready"); while(black_button()); printf("MAKE SURE CREATE IS ON!!!!!!!!"); while(!black_button()); printf("MAKE SURE ARM IS IN DOWN POSITION!!!!!!!!"); while(!black_button()); printf("MAKE SURE ARM AND CLAW WORK"); while(!black_button()); printf("CHECK POSITION OF CLAW AND ARM"); while(!black_button()); printf("MAKE SURE LIGHT SENSORT IS CALIBRATED"); while(!black_button()); // this starts the robot SECTion 1 wait_for_light(0); shut_down_in(120.0); //this shuts the robot down after 120.0 seconds while(create_connect()); //connects create to cbc set_servo_position(3, 0); set_servo_position(0, 1800); enable_servos(); msleep(500); create_full(); //section 2 create_drive_direct(SUPER_FAST, SUPER_FAST); msleep(1646); //leave beach create_stop(); msleep(300); create_drive_direct(SUPER_FAST, -SUPER_FAST); msleep(435); //turn towards center create_stop(); msleep(300); create_drive_direct(SUPER_FAST, SUPER_FAST); msleep(1600); //move towards botguy create_stop(); msleep(500); //section 3 set_servo_position(0, 1424); msleep(1800); set_servo_position(0, 1100); msleep(1800); set_servo_position(0, 924); msleep(1800); set_servo_position(0, 724); msleep(1800); set_servo_position(3, 1024); msleep(1800); set_servo_position(0, 924); msleep(1800); set_servo_position(0, 1100); msleep(1800); set_servo_position(0, 1200); msleep(2000); //retrieve botguy //section 4 create_drive_direct(-FAST, FAST); msleep(445); create_stop(); create_drive_direct(-FAST, -FAST); msleep(2000); create_stop(); create_drive_direct(FAST, -FAST); msleep(445); create_stop(); create_drive_direct(-FAST, -FAST); msleep(900); create_stop(); msleep(1600); create_stop(); set_servo_position(3, 0); set_servo_position(0, 1800); msleep(1200); set_servo_position(0, 1200); msleep(1000); set_servo_position(0, 1800); msleep(1000); create_drive_direct(1000, 1000); msleep(800); create_drive_direct(-1000, -1000); msleep(800); DRIVE(SUPER_FAST); MSLEEP(800); TURN(-SUPER_FAST, SUPER_FAST); MSLEEP(460); DRIVE(SUPER_FAST); MSLEEP(1380); TURN(SUPER_FAST, -SUPER_FAST); MSLEEP(425); DRIVE(SUPER_FAST); SLEEP(1.5); while(get_create_lbump(0.01) == 0) { DRIVE(SUPER_FAST); } TURN(-SUPER_FAST, SUPER_FAST); MSLEEP(435); TURN(SUPER_FAST, 975); MSLEEP(500); while(get_create_rbump(0.01) == 0) { TURN(SUPER_FAST, 990); } create_stop(); create_disconnect(); }