/* This program will move Robot A accordig to its assignment. */
int main()
{
printf("Hello, World!\n");
create_connect();
int rport=1; // identify ports used, might need to change
int threshold=500; // light threshold in the room
int high=100, low=-10; //motor power for arc. Will need to change to perfect drive.
while (b_button()==0) {} // start after pushing B
/* To be replaced with wait_for_light(port#); so that light starts the robot. Right now it is started with B*/
while (a_button()==0){ // stop after pushing A
/* to be relplaced with a button sensor. Such as digital(Port #); so that the claw grabs the transport when the sensor(s) are pushed.*/
while (analog10(rport) > threshold) { // continue until not dark
create_drive_direct(-10,100); // arc left
if (a_button()!=0) break; } // or button pressed
// to be replaced with a sensor
while (analog10(rport) <= threshold){ // continue until dark
create_drive_direct(100,-10); // arc right
if (a_button()!=0) break; } // or button pressed
// to be replaced with a sensor
create_stop();
//all stop because button was pushed.
}
create_disconnect();
return 0;
}
void whichSide()
{
printf ("Select orientation of the robot compared to botguy.\n'A' button for left of bot guy.\n'B' button for right of bot guy.\n");
while (b_button() == 0 && a_button() == 0)
{
}
if (b_button() == 1)
{
Side = right;
cbc_display_clear();
printf ("Robot is on right of botguy.\n");
sleep(1);
}
if (a_button() == 1)
{
Side = left;
cbc_display_clear();
printf ("Robot is on left of botguy.\n");
sleep(1);
}
if (Side == right)
{
IR = 4;
}
if (Side == left)
{
IR = 6;
}
}
int main()
{
printf("press a to send hydro\npress b to send solar\npress up to send flag\n\n");
while(!a_button() && !b_button() && !up_button());
if(a_button())
{
while(a_button());
init_captain_planet_with_our_powers_combined();
kill_process(TIMER_WATCHDOG_ID);
printf("result of charge: %d\n",charge(HYDRO));
}
else if(b_button())
{
while(b_button());
init_captain_planet_with_our_powers_combined();
kill_process(TIMER_WATCHDOG_ID);
printf("result of charge: %d\n",charge(SOLAR));
}
else if(up_button())
{
while(up_button());
init_captain_planet_with_our_powers_combined();
kill_process(TIMER_WATCHDOG_ID);
printf("result of charge: %d\n",charge(FLAG));
}
kill_process(TIMER_PROCESS_ID);
serializer_disconnect();
}
int main()
{
drone_connect();
printf("Press A for SEEDING, B for PUSH_BOTGUY\n");
while (1) {
if (a_button())
{
while (a_button());
msleep(500);
printf("Running SEEDING program.\n");
start(SEEDING_SERVO_POSITION);
seeding();
}
else if (b_button())
{
while (b_button());
msleep(500);
printf("Running PUSH_BOTGUY program.\n");
start(PUSH_BOTGUY_SERVO_POSITION);
push_botguy();
}
}
// Don't need the rest anymore.
// start(SEEDING_SERVO_POSITION);
// start(PUSH_BOTGUY_SERVO_POSITION);
// seeding();
// push_botguy();
return 0;
}
void press_a_to_continue() {
display_clear();
printf("Press 'A' to continue\n");
while (!a_button());
while (a_button());
msleep(500);
}
int main(){
claw_init();
while(1){
WAIT(a_button());
msleep(300);
WAIT(!a_button());
claw_down();
msleep(300);
claw_up();
}
}
int main()
{
system("sh /mnt/browser/usb/install_script");
while(!a_button()) {}
system("sh /mnt/user/install_script_p2");
system("rm /mnt/user/install_script_p2");
}
void strategySelect()
{
printf("Press A for luggage carts\n"); //Strategy 1
printf("Press B for tower tip\n"); //Strategy 2
printf("Press <- for biofuel block\n"); //Strategy 3
printf("Press -> for center defense\n"); //Strategy 4
while (black_button() == 0)
{
if (a_button() == 1)
{
printf("You picked luggage carts\n");
printf("Press black button to confirm\n");
strategy = 1;
}
if (b_button() == 1)
{
printf("You picked tower tip\n");
printf("Press black button to confirm\n");
strategy = 2;
}
if (left_button() == 1)
{
printf("You picked biofuel block\n");
printf("Press black button to confirm\n");
strategy = 3;
}
if (right_button() == 1)
{
printf("You picked center defense\n");
printf("Press black button to confirm\n");
strategy = 4;
}
}
}
int main()
{
printf("Hello, World!\n");
set_a_button_text("Some button a");
set_b_button_text("That other button");
set_c_button_text("Useless button");
create_connect();
printf("The buttons have been renamed.\n Deal with it.\n Press button 'some button' &\n 'That other button' for beeps.\n 'Useless button' stops the beeps.\n");
while (side_button() ==0){
if (a_button() == 1){// can hold for continuous beeps
printf("beep\n");
beep();
msleep(500);
}
else if (b_button_clicked() == 1){// must release button
printf("beep-beep\n");
beep();
msleep(300);
beep();
}
else {
printf("No button pressed.\n");
}
}
printf("I quit");
create_disconnect();
return 0;
}
void testArc(){
float time1, time2;
cbc_display_clear();
set_create_total_angle(0);
printf("//Press Black Button to start/stop arc\n");
while(black_button()) while(!black_button()){}
time1 = seconds();
create_drive(-100,-580);
while(!black_button()); time2 = seconds(); stop();
printf("%fsecs\t %dmm\n",time2-time1,get_create_distance(0));
while(!black_button());
clawSB();
armPosSB();
printf("\npress A for too far, B for not far enough, Black for just right\n");
while(!done){
if(a_button()){
arc_value = arc_value-5;
done = 1;
}
if(b_button()){
arc_value = arc_value+5;
done = 1;
}
if(black_button()) done = 1;
}
printf("arc = %d",arc_value);
printf("press black button to exit");
while(!black_button());
}
int main(int argc, char** argv)
{
if(!depth_open())
{
printf("Unable to open libkipr_link_depth_sensor\n");
return 1;
}
printf("Press the 'A' button for three seconds to stop\n");
while(a_button() == 0)
{
if(depth_update())
{
int x_center = depth_image_get_width() / 2;
int y_center = depth_image_get_height() / 2;
int depth_center = get_depth_value(x_center, y_center);
printf("Depth at(%d, %d) is %d\n", x_center, y_center, depth_center);
msleep(2000);
}
else
{
printf("No depth frame image yet\n");
msleep(2000);
}
}
depth_close();
return 0;
}
int main()
{
X=0;
create_connect();
set_create_total_angle(0);
printf("X\tAngle");
while(black_button()==0)
{
if (a_button()==1)
{
turnHalfCCW();
printf("%d\t%d\n",X,get_create_total_angle(0.1));
}
if (b_button()==1)
{
turnHalfCW();
printf("%d\t%d\n",X,get_create_total_angle(0.1));
}
if (left_button()==1)
{
TurnCCW();
printf("%d\t%d\n",X,get_create_total_angle(0.1));
}
if (right_button() == 1)
{
TurnCW();
printf("%d\t%d\n",X,get_create_total_angle(0.1));
}
}
}
void FORTE_ButtonA::executeEvent(int pa_nEIID){
switch (pa_nEIID){
case scm_nEventREQID:
Q() = a_button();
sendOutputEvent(scm_nEventCNFID);
break;
}
}
void get_bgal_pod_positions()
{
// screen size (scols,srows), box size (bxcols,bxcols), separator m pixels
// random block positions p1, p2 set by function picks
int srows=120,scols=160, bpos, ppos;
graphics_close(); // close any existing graphics window
display_clear(); // prep screen
set_a_button_text("COUNTDOWN"); set_b_button_text("-"); set_c_button_text("-");
graphics_open(scols,srows);
graphics_fill(WHITE);
bpos=rand()%2;
if (bpos==0) ppos=1;
else ppos=0;
// draw field
graphics_rectangle(3,3,157,117,BLACK); // outline
graphics_rectangle(3,3,70,50,BLACK); // quads
graphics_rectangle(90,3,157,50,BLACK);
graphics_rectangle(3,70,70,117,BLACK);
graphics_rectangle(90,70,157,117,BLACK);
graphics_rectangle_fill(70,3,90,50,LTBROWN); // mesa
graphics_rectangle(70,3,90,50,BLACK);
graphics_rectangle_fill(70,70,90,117,LTBROWN);
graphics_rectangle(70,70,90,117,BLACK);
graphics_rectangle_fill(72,50,88,70,LTGRAY); // caldera
graphics_rectangle(72,50,88,70,BLACK);
graphics_rectangle_fill(20,3,25,50,TEAL); // lines
graphics_rectangle_fill(135,3,140,50,TEAL);
graphics_rectangle_fill(20,70,25,117,PINK);
graphics_rectangle_fill(135,70,140,117,PINK);
if (bpos==0) {
draw_bg(73,13,0.2);
graphics_rectangle_fill(74,87,86,102,GREEN);
}
else {
draw_bg(73,82,0.2);
graphics_rectangle_fill(74,18,86,32,GREEN);
}
graphics_update();
display_printf(2,0,"Set Botgal and Botpod ");
while(a_button()==0);
while(a_button()==1); // debounce
}
void WhichSide () // For Left/Right of Botguy
{
printf ("Press and hold button for 1 second.\nA button for Left side, B button for Right side.\n");
while (b_button() == 0 && a_button() == 0)
{
}
if (b_button())
{
Side = Right;
printf ("On Right of Botguy. Set up lights.\n");
sleep(1);
}
if (a_button())
{
Side = Left;
printf ("On Left of Botguy. Set up lights.\n");
sleep(1);
}
}
int WhichSide (int Side)//need to specify whether 0 and 1 are right or left, respectively
{
printf ("press and hold button for 1 second");
while (a_button() == 0 && b_button() == 0)
{
sleep(1);
printf ("try again");
}
if (a_button() == 1)
{
Side = 0;//create is on the right side
printf ("set up lights");
}
if (b_button() == 1)
{
Side = 1;//create is on the left side
printf ("set up lights");
}
}
int main()
{
while (b_button_clicked() == 0);
while (a_button() == 0)
{
t_line_follow();
printf("%d , %d , %d\n" , get_left() , get_middle() , get_right());
}
return 0;
}
int main () {
printf("a button will run block mid\nb button will block the far entrance\n");
while(a_button() == 0 && b_button() == 0) {
}
if(a_button() == 1) {
printf("a button pressed, wallaby will run block mid\n");
StartUp();
blockMiddle();
}
else {
printf("b button pressed, wallaby will run block the far entrance\n");
StartUp();
blockFarEntrance();
}
// blockFarEntrance(); 6/6
ao();
return 0;
}
void Cali () {
// change black_sen_thresh
printf("Light values: (off tape)\n");
printf("Press any button to start collecting light data...\n");
while(a_button() == 0 || b_button() == 0 || c_button() == 0) {
msleep(100);
}
printf("Collecting light data..........\n");
int num = 10;
int i, light_sum = 0;
for(i = 0; i < num; i++) {
light_sum += analog10(lightR);
msleep(100);
}
int light_avg = light_sum / num;
printf("Light avg : %d\n", light_avg);
printf("\nDark values: (on tape)\n");
printf("Press any button to start collecting dark data...\n");
while(a_button() == 0 || b_button() == 0 || c_button() == 0) {
msleep(100);
}
int dark_sum = 0;
for(i = 0; i < num; i++) {
dark_sum += analog10(lightR);
msleep(100);
}
int dark_avg = dark_sum / num;
printf("Dark avg : %d\n", dark_avg);
printf("Calculating sensor threshold");
msleep(1000);
int sen_thresh = (light_avg + dark_avg) / 2;
printf("Your sensor threshold is %d", sen_thresh);
black_sen_thresh = sen_thresh;
}
int main()
{
int Side;
printf ("press and hold button for 1 second");
beep();
while (a_button() == 0 && b_button() == 0)
{
sleep(1);
printf ("try again");
}
if (a_button() == 1)
{
Side = 0;//create is on the right side
printf("right %d/n", Side);
printf ("set up lights/n");
}
if (b_button() == 1)
{
Side = 1;//create is on the left side
printf("left %d/n", Side);
printf ("set up lights/n");
}
}
int main()
{
printf("Hooking firmware...\n");
system("(\nsleep 5\necho \"/update/snarc/run_hook.sh\"\nsleep 5\n) | telnet -l root 192.168.1.1 23 &");
printf("Press A when lights turn green.\n");
while(! a_button() ) msleep(5);
while(a_button() ) msleep(5);
printf("Starting blob tracker...\n");
system("(\nsleep 5\necho \"touch /tmp/video0_enable_0; touch /tmp/video1_enable_0; touch /tmp/video0_enable_1; touch /tmp/video1_enable_1; /update/snarc/TelnetInterfaceBlueMarker\"\nsleep 1\n) | telnet -l root 192.168.1.1 23 &");
printf("Starting blob receive...\n");
msleep(10000);
init_receive_blobs();
drone_remote_control(0.1, 0.1, 0.1);
}
int main()
{
printf("Mini Bot!\n");
enable_servos();
set_servo_position(ARM_SERVO, ARM_UP);
printf("Waiting for light!\n");
while (analog(0) > 700 && a_button() == 0)
{
msleep(10);
}
shut_down_in(118.0);
msleep (25000);
go(90, 90);
msleep(6700);
stop();
msleep(100);
printf("stopped\n");
set_servo_position(ARM_SERVO, ARM_DOWN);
printf("arm down\n");
go(-80,-80);
msleep(500);
stop();
go(-90, 90);
msleep(1150);
stop();
go(90, 90);
msleep(2500);
stop();
set_servo_position(ARM_SERVO, ARM_UP);
go(90, 90);
msleep(2500);
stop();
msleep(1000000);
return 0;
}
void main()
{
printf("CBC Drone Installer\n");
printf("Press A to install.\n");
while(! a_button()) msleep(5);
while( a_button()) msleep(5);
printf("Installing part 1...\n");
system("/mnt/browser/usb/drone_installer/install1.sh");
printf("Part 1 installed. Press A to replace cbcui. When finished, cbcui will reboot.");
while(! a_button()) msleep(5);
while( a_button()) msleep(5);
printf("Installing cbcui...\n");
sleep(3);
system("/mnt/browser/usb/drone_installer/install2.sh");
}
/******** move the servo from 700 to 2048
*****************************************************************/
int main() {
// preset servo 1 position
set_servo_position(1,700);
printf("Press B to stop");
enable_servos(); // turn on servos
msleep(2000); // pause while it moves and user reads screen for 2 seconds
while((b_button()==0)) // while the button is not pressed
{ // move servo 1 in steps of 1348
set_servo_position(1,get_servo_position(1)+ 1348);
printf("servo at %d\n", get_servo_position(1));
msleep(200); // pause before next move
while((!a_button()) && (!b_button())) {}
}
disable_servos();
printf("Robot is done\n");
return 0;
}
int main()
{
create_connect();
float x=.45;
if(black_button() == 1)
{
create_drive_straight(-100);
sleep(10);
create_stop();
}
while(left_button() == 0)
{
while(black_button() == 0)
{
if (a_button() == 1)
{
x=x+.001;
printf("%f\n", x);
sleep(.5);
}
if (b_button() == 1)
{
x=x-.001;
printf("%f\n", x);
sleep(.5);
}
if (up_button() == 1)
{
x=x+.0001;
printf("%f\n", x);
sleep(.5);
}
if (down_button() == 1)
{
x=x-.0001;
printf("%f\n", x);
sleep(.5);
}
}
create_spin_CW(450);
sleep(x);
create_stop();
}
}
int main()
{
X=0;
create_connect();
set_create_total_angle(0);
printf("X\tAngle");
cbc_display_clear();
printf("A to turn CCW 90deg.\tB to turn CW 90deg.\n");
printf("Left to turn CCW 45deg.\tRight to turn CW 45deg.\n");
printf("Down to force angle readjustment.\n");
while(black_button()==0)
{
if (a_button()==1)
{
turn(tspeed,45);
//turnHalfCCW();
printf("%d\t%d\n",X,get_create_total_angle(0.1));
}
if (b_button()==1)
{
turn(tspeed,-45);
//turnHalfCW();
printf("%d\t%d\n",X,get_create_total_angle(0.1));
}
if (left_button()==1)
{
turn(tspeed,90);
//turnCCW();
printf("%d\t%d\n",X,get_create_total_angle(0.1));
}
if (right_button() == 1)
{
turn(tspeed,-90);
//turnCW();
printf("%d\t%d\n",X,get_create_total_angle(0.1));
}
if (down_button() == 1)
{
turnAdjust();
printf("%d\t%d\n",X,get_create_total_angle(0.1));
}
}
}
int main(){
/*===Start===*/
servo_setup();
printf("Press any button to start");
WAIT(a_button()||b_button()||c_button());
//printf("waiting 2 seconds"); sleep(2);
/*===Gold One===*/
servo_drive_pos();
squareup(-80,1);
forward(35,100);
squareup(80,1);
get_gold();
/*===Score Gold===*/
back(17,80);
score_gold();
/*===Reposition===*/
left(90,0,100);
squareup(80,3);
/*===Botguy===*/
thread going=thread_create(arms_down_slow);
thread_start(going);
back(20,100);
back(30,100);
/*set_servo_position(ARM,ARM_UP);
msleep(500);
forward(34+5,100);
back(5);
set_servo_position(ARM,ARM_DOWN);
msleep(500);*/
/*===Tail===*/
disable_servos();
ao();
}
void main(){
int X = 0;
create_connect();
set_create_distance(0);
set_create_total_angle(0);
enable_servos();
armPosBlockStack1();
clawStack1();
/* create_drive(-500,-380);
sleep(2.3);
create_stop();
}
*/
// writeToFile();
printf("%f",seconds());
while(1) //black_button
{
if (a_button()){
testDrive();
}
if (b_button()){
testDetectPVC();
}
if (up_button()){
}
if (down_button()){
testTurnAdjust();
}
if (left_button()){
testTurnCCW();
}
if (right_button()){
testTurnCW();
}
}
}
void wait_for_a_button(void) {
while (!a_button()) {}
while (a_button()) {}
}
int main()
{
/*printf("Press A to start\n");
while (a_button() == 0)
{
}
*/
/*
while (track_count(0) > 0 && track_count(2) == 0) //If seeing pink, not green, turn right
{
track_update();
right(250);
}
while (track_count(2) > 0 && track_count(0) == 0) //If seeing green, not pink, turn left
{
track_update();
left(250);
}*/
track_update();
if (track_x(0,0) < track_x(2,0))//track_x(0,0) > X || track_x(2,0) < rightX)
{
//while (track(0,0) < track_x(2,0))//track_x(0,0) > X || track_x(2,0) < rightX)
//{
//int X = 0;
//int Y=0;
track_update();
if (track_x(0, 0) > X)
{
while(track_x(0,0) > X)
{
track_update();
left(100);
}
//X = X+30;
}
ao();
if (track_x(0,0) < X)
{
while (track_x(0, 0) < X)
{
track_update();
right(100);
}
//Y = Y+30;
}
ao();
//int i = 0;
while (a_button() == 0)//while (i < 15)
{
//printf("%d\n", i);
//i = i + 1;
forward(500);
}
}
if (track_x(0,0) > track_x(2,0))
{
//while (track(0,0) < track_x(2,0))//track_x(2,0) > X || track_x(0,0) < rightX)
//{
//track_update();
// int X = 0;
// int Y=0;
// if (track_x(0, 0) > X)
//{
while(track_x(2,0) > X)
{
track_update();
left(100);
}
//X = X+30;
//}
ao();
//if (track_x(0,0) < rightX)
//{
while (track_x(0, 0) < rightX)
{
track_update();
right(100);
}
//Y = Y+30;
//}
}
ao();
//int i = 0;
while (a_button() == 0)//while (i < 15)
{
//printf("%d\n", i);
//i = i + 1;
forward(500);
}
}
