void Calibrate()
{
T("enter Calibrate");
LLinit(LINELEADER);
nxtScrollText("Place over white");
PressBumperToContinue();
wait1Msec(500);
LLcalWhite(LINELEADER);
nxtScrollText("");
nxtScrollText("Place over line");
nxtScrollText("(Black)");
PressBumperToContinue();
wait1Msec(500);
LLcalBlack(LINELEADER);
// compass calibration
nxtScrollText("");
nxtScrollText("compass calibrate");
PressBumperToContinue();
wait1Msec(500);
motor[LEFT] = 30;
motor[RIGHT] = -30;
wait1Msec(500);
HTMCstartCal(COMPASS);
wait1Msec(5000);
HTMCstopCal(COMPASS);
motor[LEFT] = 0;
motor[RIGHT] = 0;
PlaySound(soundFastUpwardTones);
T("leave Calibrate");
wait1Msec(2000);
}
// Start the calibration and complain loudly if something goes wrong
void startCalibration() {
if (!HTMCstartCal(HTCOMPASS)) {
eraseDisplay();
nxtDisplayTextLine(1, "ERROR: Couldn't");
nxtDisplayTextLine(2, "calibrate sensor.");
nxtDisplayTextLine(4, "Check connection");
nxtDisplayTextLine(5, "and try again.");
PlaySound(soundException);
while(bSoundActive) EndTimeSlice();
wait1Msec(5000);
StopAllTasks();
}
}
task main()
{
done = false;
eraseDisplay();
nMotorEncoder[driveRight] = 0;
nMotorEncoder[driveLeft] = 0;
HTMCstartCal(HTMC);
StartTask(rotate);
while (!done) {
nxtDisplayTextLine(2, "Right: %d", nMotorEncoder[driveRight]);
nxtDisplayTextLine(3, "Left: %d", nMotorEncoder[driveLeft]);
}
HTMCstopCal(HTMC);
while (true) {}
}
