void drive_random()
{
srand ( time(NULL) );
int direction=rand()%361-180; //-180 to +180
if(direction<0)
{
set_create_total_angle(0);
create_drive_direct(-200,200);
while(get_create_total_angle(0.1)>direction);
}
else
{
set_create_total_angle(0);
create_drive_direct(200,-200);
while(get_create_total_angle(0.1)<direction);
}
int i=0;
while(i<1000)
{
if(get_create_lbump(0.1)||get_create_rbump(0.1)) //if bumper pressed
{
i=2000;
}
else
{
create_drive_direct(300,300);
}
i++;
msleep(1);
}
create_stop();
}
void GotoBox()
{
while (get_create_lbump(.1) == 0 && get_create_rbump(.1) == 0)//drive backwards until hit pvc w/ bumper
{
create_drive_straight(200); //unless arm is strong enough to hold
}
create_stop();
ClearWall(); //move away from pvc to turn
if(Side == 0) //turn towards outer starting box -- now facing our outer starting box w/ blocks in claw
{
TurnCCW();
}
if(Side == 1)
{
TurnCW();
}
create_stop();
ForwardTouch(); //forward till front touch sensor ==1
create_drive_straight(132); //one cube length (5 inches) + 5 mm safety // drive backwards
sleep(1);
Release(); // realease claw w/ 2 blocks -- block now in starting box
create_drive_straight(-75);
sleep(1);
create_stop(); //make sure cubes are touching pvc
}
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: get_create_lbump
* Signature: ()I
*/
JNIEXPORT jint JNICALL Java_cbccore_low_Create_get_1create_1lbump(JNIEnv *env, jobject obj, jfloat lag)
{
#ifdef CBC
return get_create_lbump(lag);
#else
printf("Java_cbccore_low_Create_get_1create_1lbump stub\n");
return 0;
#endif
}
int main()
{
printf("Tryying to connect to the Create\nBattery: %d...\n", get_create_battery_capacity());
create_connect();
printf("Connected...");
while (get_create_lbump() == 0 && get_create_rbump() == 0)
{
create_drive_direct(150,150);
}
create_disconnect();
printf("All done");
return 0;
}
void ClearWall()
{
if(get_create_lbump(.1) == 1 || get_create_rbump(.1) == 1)
{
create_drive_straight(-132); //one cube length (5 inches) + 5 mm safety
sleep(1);
create_stop();
}
if(digital(TouchSensor) == 1)
{
create_drive_straight(132);
sleep(1);
create_stop();
}
}
int main()
{
printf("Hello Create\n");
printf("press R button to start\n");
while(digital(13) ==0) {
msleep(20);
}
printf("Connecting\n");
create_connect(); // this engages the create
while(get_create_lbump()==0 && get_create_rbump()==0) {
create_drive_direct(100,-100);
}
create_stop();
create_disconnect();
msleep(500);
return 0;
}
int main()
{
printf("starting connor\n");
enable_servo(1);
set_servo_position(1,100);
//disable_servo(1)
create_connect();
while (! digital(11))
{
printf("%d\n", digital(11));
create_drive_direct(-150,-150);
}
printf("starting connor\n");
set_servo_position(1,1400);
while (get_create_lbump() == 0 && get_create_rbump() == 0)
{
create_drive_direct(150, 150); // drive straight at 150mm/s
}
disable_servos();
}
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();
}
void Cubes (void)
{
if (Side == 0)
{
//Right of Botguy
//keep offense in box until scorer gets into position
//start with claw facing out
ForwardTouch(); //until it hits luggage DOES BAR TOUCH SENSOR REGISTER LUGGAGE TOUCH?
TurnCCW(); //turn left -- now facing airplanes
CenterCamera(); //move forwards and center the camera on the blocks -- now facing airplanes and in front of blocks
TurnCCW(); //turn left to face blocks with claw -- now in front of and facing blocks
ForwardTouch(); //move forward until it hits blocks
Grab(); //grab blocks
/*create_drive_straight(100);
sleep(2);//to avoid crashing with our luggage carts
create_stop();
TurnCCW();*/
//OFFENSE SHOULD BE OUT OF STARTING BOX BY NOW
//FORWARD BAR SENSOR SHOULD NOT BE OBSTRUCTED
//CREATE SHOULD DRIVE BACKWARDS
GotoBox();
create_drive_straight(200);
sleep(1);
create_stop();
TurnCW();
create_drive_straight(-300);
sleep(1);
create_stop();
TurnCW();
CenterCamera();
TurnCCW();
ForwardTouch();
Grab();
TurnCCW();
create_drive_straight(-500);
sleep(2.2352);
TurnCW();
GotoBox();
Release();
}
if (Side == 1) //Left of Botguy. START WITH CREATE FACING OUT
{
ForwardTouch(); //Switch to distance
TurnCW();
ForwardTouch();
create_drive_straight(50);
sleep(1);
create_stop();
TurnCW();
CenterCamera();
TurnCCW();
ForwardTouch();
Grab();
TurnCCW();
/*create_drive_straight(100);
sleep(1);
create_stop();
TurnCW();*/
while (get_create_lbump(.1) == 0 && get_create_rbump(.1) == 0)
{
create_drive_straight(200); //unless arm is strong enough to hold
}
ClearWall();
TurnCW();
ForwardTouch();
create_drive_straight(132); //one cube length (5 inches) + 5 mm safety
sleep(1);
create_stop();
create_drive_straight(-75);
sleep(1);
create_stop();
Release();
}
}
int main(int argc, char** argv) {
enable_servo(kServoPortSorter);
set_servo_position(kServoPortSorter, kServoPositionSorterCenter);
clear_motor_position_counter(kMotorPortBayLeft);
clear_motor_position_counter(kMotorPortBayRight);
create_connect();
camera_open(LOW_RES);
scanf("%s", NULL);
printf("waiting for light\n");
while (analog(0) > 200) {}
shut_down_in(700000);
motor(kMotorPortBayLeft, 10);
motor(kMotorPortBayRight, 10);
while (get_motor_position_counter(kMotorPortBayLeft) < 230 || get_motor_position_counter(kMotorPortBayRight) < 230) {
printf("pos: %i/%i\n", get_motor_position_counter(kMotorPortBayLeft), get_motor_position_counter(kMotorPortBayRight));
}
motor(kMotorPortBayLeft, 0);
motor(kMotorPortBayLeft, 0);
// wait_for_side_button();
msleep(6000);
create_drive_straight(200);
msleep(1850);
create_spin_CCW(200);
msleep(750);
create_drive_straight(-200);
msleep(1500);
create_spin_CW(200);
msleep(1750);
create_drive_straight(200);
while (!get_create_lbump() && !get_create_rbump()) {}
create_drive_straight(-150);
msleep(900);
create_spin_CCW(200);
msleep(950);
create_drive_straight(150);
while (!get_create_lbump() && !get_create_rbump()) {}
create_stop();
msleep(10000);
thread all_off = thread_create(wait_for_kill);
thread_start(all_off);
raise_bay();
create_spin_CW(100);
msleep(500);
create_drive_straight(-100);
msleep(1000);
create_stop();
thread jiggle_c = thread_create(jiggle_create);
thread_start(jiggle_c);
thread sort_b = thread_create(sort_balls);
thread_start(sort_b);
msleep(33000);
while (true) {}
/*thread_destroy(jiggle_c);
create_stop();
lower_bay();
create_drive_straight(100);
while (!get_create_lbump() && !get_create_rbump()) {}
create_stop();
msleep(10000);
raise_bay();
create_spin_CW(100);
msleep(500);
create_drive_straight(-100);
msleep(1000);
create_stop();
thread_create(jiggle_create);
thread_start(jiggle_c);
thread_create(sort_balls);
while (true) {}
camera_close();*/
return 0;
}
