int* getButtons()
{
static int buttons[] = {0,0,0,0};
//Get touch sensor inputs
long value = 1023-SensorRaw(S2);
long switches = 339 * value;
switches /= (1023-value);
switches += 5;
switches /= 10;
if(switches&8)
buttons[0] = 1;
else
buttons[0] = 0;
if(switches&4)
buttons[1] = 1;
else
buttons[1] = 0;
if(switches&2)
buttons[2] = 1;
else
buttons[2] = 0;
if(switches&1)
buttons[3] = 1;
else
buttons[3] = 0;
return buttons;
}
int P_moveUpdate(int *emptiesToCheck)
{
//Assumed home position is at 3,-2
int curCol = -2;
int curRow = 3;
//moves to each column
for(int i = 0; i < MAXCOL; i ++)
{
moveHor(curCol, i);
curCol = i;
wait1Msec(stabilize);
//if it is necessary to check for a piece in this column
if (emptiesToCheck[i] >= 0)
{
moveVert(curRow, emptiesToCheck[i]);
curRow = emptiesToCheck[i];
displayString(MAXROW+2, "check Row: %i ", curRow);
displayString(MAXROW+3, "check Col: %i ", curCol);
if (SensorRaw(S2) > redVal)
{
GameBoard[curRow][curCol] = 1;
//updates gameboard that a piece is there
displayGameBoard();
updateEmpties(emptiesToCheck);
displayEmpties(emptiesToCheck);
playSound(soundBeepBeep);
moveVert(curRow, 3); //resets light sensor to bottom
return curCol;
}
}
}
moveVert(curRow, 3); //resets light sensor to bottom
return curCol; //in theory, this will never be required, just for compiling
}
task main()
{
initializeRobot();
ereset();
waitForStart();
ch = 1;
brake();
wait1Msec(300);
{
motor[motorH] = 50;
motor[motorI] = 50;
wait1Msec(300);
motor[motorH] = 0;
motor[motorI] = 0;
movebackward();
wait1Msec(2000);
servo[servo3] = 247;
brake(); //temporary stop
wait1Msec(300);
turnleft(); //turn left to face the center goal structure
wait1Msec(1100);
brake(); //temporary stop
wait1Msec(100);
turnright();
wait1Msec(1100);
brake();
wait1Msec(100);
movebackward();// move forward to the center goal structure
wait1Msec(2525);
brake();
wait1Msec(1000);
if (SensorRaw(irs) > 3 && SensorRaw(irs) < 7)//checks for the ir value to know if the center goal structure is at postion 1
{ //center goal structure is in the 1
moveforward(); // move forward to be adjacent to the kickstand
wait1Msec(650);
brake(); //temporary stop
wait1Msec(50);
turnright(); //turn right to face the kickstand
wait1Msec(1550);
brake(); //temporary stop
wait1Msec(100);
moveforward(); //moveforward to knock down the kickstand and to be adjacent to the ir beacon and center goal
wait1Msec(1250);
brake();
wait10Msec(3000);
motor[motorH] = -50;//resets the initialize
motor[motorI] = -50;
wait1Msec(300);
motor[motorH] = 0;//stops the 80/20 so that it does not move
motor[motorI] = 0;
}
else if(SensorRaw(irs) <= 3 || SensorRaw(irs) >= 7)//if the ir sensor senses a value between 3 and 7
{ //center goal is in position 2/3
movebackward();//move the robot back to be adjacent to the ir beacon
wait1Msec(900);
turnleft();//turns left to check for position 2.
wait1Msec(900);
movebackward();//moves abckwards to be next to the ir beacon
wait1Msec(1250);
ch = 0;//gives the integer chicks the value of of 0
}
if (SensorRaw(irs) >= 7 && SensorRaw(irs) <= 8)//if ir value is between 7 and 8
{ //center goal structure is in the 3 position
while(SensorRaw(irs) < 5)//if it senses a value less than 5 until it senses at 5
{
movebackward();
}
moveforward();//moves the robot forward to be adjacent to the
wait1Msec(500);
turnright();//turn right to face the kickstand
wait1Msec(900);
moveforward();//knocks down the kickstand
wait1Msec(1000);
}
else
{ //center goal structure is in the 2 position
moveforward();//move forward to be adjacent to the kickstand
wait1Msec(1259);
turnright();//turn right to face the kickstand
wait1Msec(1600);
moveforward();//move forward to knock down the kickstand
wait1Msec(1500);
}
}
}
