task main() { clearLCDLine(0); clearLCDLine(1); displayLCDPos(0, 0); displayNextLCDString("Titties"); nVolume = 4; #ifndef NOSOUND PlaySoundFile(SONGNAME); #endif resetVars(); // reset all variables resetSensors(); // reset all sensors #ifndef NOAUTON AutoSelector();//run the RedFront autonomous Autonomous(); #endif AutoRedPost(); while (true) { #ifndef NOSOUND if (bSoundQueueAvailable) { PlaySoundFile(SONGNAME); } #endif RC(); // recieve inputs calcMotorValues(); //writeStream(); //beltPower = 127; RunRobot(); } }
int main() { int r; #if GRAPHICS struct Button *but,*button; boolean quit=FALSE; context = (struct Context *)malloc(sizeof(struct Context)); but= context->Buttons= CreateButton(RUN_BUTTON,"RUN/STOP",WINDOW_W-50,WINDOW_H-90); but= but->Next=CreateButton(DISPLAY_RATE_UP_BUTTON,"+",WINDOW_W-40,WINDOW_H-60); but= but->Next=CreateButton(DISPLAY_RATE_DOWN_BUTTON,"-",WINDOW_W-60,WINDOW_H-60); but= but->Next=CreateButton(QUIT_BUTTON,"QUIT",WINDOW_W-50,WINDOW_H-30); display_rate=1L; OpenGraphics(); #endif robots = (struct Robot **)malloc(NR*sizeof(struct Robot*)); for (r=0;r<NR;r++) { robots[r] = (struct Robot *)malloc(sizeof(struct Robot)); } InitFiles(); InitGlobal(); for (r=0;r<NR;r++) { InitRobot(r,robots[r]); } #if GRAPHICS while(quit == FALSE) { button=PressButton(context); switch(button->Value) { case QUIT_BUTTON: quit = TRUE; break; case DISPLAY_RATE_UP_BUTTON: display_rate*=10L; if (display_rate>100000L) display_rate=100000L; display_rate-=display_rate%10L; if (display_rate<1L) display_rate=1L; DrawWindow(context); break; case DISPLAY_RATE_DOWN_BUTTON: if (display_rate>9L) display_rate/=10L; display_rate-=display_rate%10L; if (display_rate<1L) display_rate=1L; DrawWindow(context); break; case RUN_BUTTON: #endif do { for (r=0;r<NR;r++) { RunRobot(r,robots[r]); EvalRobot(t,r,robots[r]); } t++; if (t>TM) { #if GRAPHICS CloseGraphics(); #endif return(1); exit(1); } #if GRAPHICS if (t%display_rate==0L) { DrawWindow(context); #if DISTY*(DISTY-2) if (t%(250L*display_rate)==0L) { DrawPlate(0,0,WINDOW_W-1,WINDOW_H-1,BLACK,PLATE_UP); } #endif } #endif } #if GRAPHICS while (UnpressButton(context,button)==FALSE); break; #else while (TRUE); #endif #if GRAPHICS } button->State = PLATE_UP; } CloseGraphics(); #endif return(1); }