task main()
{
// Setup
IAmNXT = 0;
MaxNXT = 2;
setupHighSpeedLink();
//
eraseDisplay();
bNxtLCDStatusDisplay = true; // Enable top status line display
nxtDisplayTextLine(2, "IAmNXT: %d MAX: %d", IAmNXT, MaxNXT);
while(true){
if( HSpeedRxDataLen != 0 )
{
// rec = (int)HSpeedRxData[0];
nxtDisplayTextLine(6, "Rx: ID %d Len %d", HSpeedRxHead[0] , HSpeedRxDataLen);
nxtDisplayTextLine(7, "Rx: %d " , (int)HSpeedRxData[0] );
}
HSpeedSendByte( (IAmNXT+1) % MaxNXT , status);
}
}
task main()
{
eraseDisplay();
bNxtLCDStatusDisplay = true; // Enable top status line display
setupHighSpeedLink(true);
//
// Configure the link for raw read and write. User program will have complete control over the link.
// User program will be responsible for managing the half-duplex operation and must prevent collisions!
//
nxtHS_Mode = hsRawMode;
while(true)
{
char ILOVEHKK[10] = {'I',' ','L','O','V','E',' ','H','K','K'};
transmitList = 'I';
count = 1;
TransmitASCII();
Receive();
string receivedcharacters;
StringFromChars(receivedcharacters, receiveList);
nxtDisplayString(30, receivedcharacters);
wait10Msec(100);
eraseDisplay();
}
}
////////////////////////////////////////////////////////////////////////
// Main Task
////////////////////////////////////////////////////////////////////////
task main()
{
eraseDisplay();
bNxtLCDStatusDisplay = true;
setupHighSpeedLink();
//This is the buffer that will hold the bytes to transmit.
ubyte testBytes[1];
int xmitCount = 1;
nMotorEncoder[motorB] = 0; // Reset the Motor Encoder of Motor B.
//The test will continue until an error occurs or
//the enter button on the brick is pressed.
while(nNxtButtonPressed != kEnterButton)
{
eraseDisplay();
int motorposn = nMotorEncoder[motorB];
//This will display the the motor position.
nxtDisplayTextLine(1, (string)motorposn + " XMIT");
//Set the bytes of the buffer to the next byte.
testBytes[0] = motorposn;
//Transmit the bytes.
int retVal = TransmitBytes(testBytes, sizeof(testBytes));
//Format the byte string and display it.
string tStr0;
StringFormat(tStr0, "%3d", testBytes[0]);
string TempStr = tStr0;
nxtDisplayTextLine(2, TempStr);
//Delay. Possibly, this could be used for an ACK.
wait1Msec(MS_TO_DELAY);
}
}
task main()
{
// Setup
string sFriendlyName;
IAmNXT = 1;
MaxNXT = 4;
setupHighSpeedLink();
//
eraseDisplay();
bNxtLCDStatusDisplay = true; // Enable top status line displayHSpeedRxData[1]
while(true)
{
while( HSpeedRxDataLen == 0 ) wait1Msec(10);
if(HSpeedRxData[0] == 1){
}
if(HSpeedRxData[0] == 2){
}
if(HSpeedRxData[0] == 3){
}
}
}
////////////////////////////////////////////////////////////////////////////////////////////////////////
//
// Main Task
//
////////////////////////////////////////////////////////////////////////////////////////////////////////
task main()
{
// Setup
string sFriendlyName;
getFriendlyName(sFriendlyName);
IAmNXT = sFriendlyName == "HRF2" ? 0 : 1;
MaxNXT = 2;
setupHighSpeedLink();
//
eraseDisplay();
bNxtLCDStatusDisplay = true; // Enable top status line display
nxtDisplayTextLine(2, "IAmNXT: %d MAX: %d", IAmNXT, MaxNXT);
if ( IAmNXT == 0 )
{
send();
}
else
{
recieve();
}
}
task main()
{
// Setup
string sFriendlyName;
IAmNXT = 2;
MaxNXT = 3;
setupHighSpeedLink();
//
eraseDisplay();
bNxtLCDStatusDisplay = true; // Enable top status line displayHSpeedRxData[1]
int delta = 2; // Create int 'delta' to the be Servo Change Rate.
servoChangeRate[servo1] = delta; // Slow the Servo Change Rate down to only 'delta' positions per update.
servoChangeRate[servo2] = delta; // Slow the Servo Change Rate down to only 'delta' positions per update.
servoChangeRate[servo3] = delta; // Slow the Servo Change Rate down to only 'delta' positions per update.
servoChangeRate[servo4] = delta; // Slow the Servo Change Rate down to only 'delta' positions per update.
servoChangeRate[servo5] = delta; // Slow the Servo Change Rate down to only 'delta' positions per update.
while(true)
{
while( HSpeedRxDataLen == 0 ) wait1Msec(10);
if(HSpeedRxData[0] == 1){
AbsMove(2000,2000, 360);
if(ServoValue[servo1] >= 191) // If servo1 is closer to 255 (than 0):
{
while(ServoValue[servo1] > 125) // While the ServoValue of servo1 is greater than 0:
{
servo[servo1] = 125; // Move servo1 to position to 0.
}
}
if(ServoValue[servo2] < 64) // If servo1 is closer to 0 (than 255):
{
while(ServoValue[servo2] < 110) // While the ServoValue of servo1 is less than 255:
{
servo[servo2] = 110; // Move servo1 to position to 255.
}
}
if(ServoValue[servo3] < 64) // If servo1 is closer to 0 (than 255):
{
while(ServoValue[servo3] < 110) // While the ServoValue of servo1 is less than 255:
{
servo[servo3] = 110; // Move servo1 to position to 255.
}
}
if(ServoValue[servo4] < 64) // If servo1 is closer to 0 (than 255):
{
while(ServoValue[servo4] < 110) // While the ServoValue of servo1 is less than 255:
{
servo[servo4] = 110; // Move servo1 to position to 255.
}
}
if(ServoValue[servo5] < 64) // If servo1 is closer to 0 (than 255):
{
while(ServoValue[servo5] < 110) // While the ServoValue of servo1 is less than 255:
{
servo[servo5] = 110; // Move servo1 to position to 255.
}
}
}
if(HSpeedRxData[0] == 2){
if(ServoValue[servo1] < 191) // If servo1 is closer to 0 (than 255):
{
while(ServoValue[servo1] < 255) // While the ServoValue of servo1 is less than 255:
{
servo[servo1] = 255; // Move servo1 to position to 255.
}
}
if(ServoValue[servo2] >= 64) // If servo1 is closer to 255 (than 0):
{
while(ServoValue[servo2] > 0) // While the ServoValue of servo1 is greater than 0:
{
servo[servo2] = 0; // Move servo1 to position to 0.
}
}
if(ServoValue[servo3] >= 64) // If servo1 is closer to 255 (than 0):
{
while(ServoValue[servo3] > 0) // While the ServoValue of servo1 is greater than 0:
{
servo[servo3] = 0; // Move servo1 to position to 0.
}
}
if(ServoValue[servo4] >= 64) // If servo1 is closer to 255 (than 0):
{
while(ServoValue[servo4] > 0) // While the ServoValue of servo1 is greater than 0:
{
servo[servo4] = 0; // Move servo1 to position to 0.
}
}
if(ServoValue[servo5] >= 64) // If servo1 is closer to 255 (than 0):
{
while(ServoValue[servo5] > 0) // While the ServoValue of servo1 is greater than 0:
{
servo[servo5] = 0; // Move servo1 to position to 0.
}
}
AbsMove(0,0, 0);
}
if(HSpeedRxData[0] == 3){
AbsMove(0,0, 0);
}
}
}
