void testDrive(){
float time1, time2;
set_create_distance(0);
printf("//Press Black Button to start/stop drive\n");
while(!black_button()); time1 = seconds();
create_drive_straight(-50);
printf("drive(50);\t");
sleep(2.0);
while(!black_button()); time2 = seconds();
stop();
printf("sleep(%f);\t//move %dmm",time2-time1,get_create_distance(0));
done = 1;
}
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 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()
{
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();
}
}
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());
}
void instructions(){
cbc_display_clear();
msleep(500);
printf("A to drive.\n");
printf(" Black Button to stop\n");
printf("B to turn.\n");
printf(" Left to turn CCW 90 deg.\n");
printf(" Right to turn CW 90 deg.\n");
printf("\nBlack Button to clear this screen");
while(!black_button()) msleep(500);
cbc_display_clear();
msleep(500);
}
/*This program moves two servos. Servos need to be plugged into ports 0 and 3. The program presets servo 0 to position 150. Then the program waits for the black button to be pushed. Then it enables servos, servo 0 goes to position 150 and servo 3 goes to 1900. Then servo 3 goes to 1900. Finally servo 0 goes to 1900 and servo 3 goes to 150 and the program ends. See appendix for finding your servo?s range. */
int main() {
set_servo_position(1,150); //preset port 0 to 150
printf("servo 0 at position 0\n");
printf("press black button to continue\n");
while(!black_button()) {} //wait for black button
enable_servos(); //enable the servos
sleep(1); //wait for servo to move
set_servo_position(1,1900); //move port 3 to 1900
sleep(1); //wait for servo to move
set_servo_position(1,1900); //move port 0 to 1900
set_servo_position(1,150); //move port 3 to 150
sleep(3); //wait for servos to move
disable_servos(); //power down servos
}
int main()
{
init_captain_planet_with_our_powers_combined();
int phase = get_phase(CURRENT_TIME);
while(!black_button())
{
int phase = get_phase(CURRENT_TIME);
printf("%d\n",phase);
}
serializer_disconnect();
}
int main()
{
init_captain_planet_with_our_powers_combined();
while(!black_button())
{
WATCHDOG_ACTIVE = 1;
printf("Time: %f\ntimer_interrupt: %d\n\n",CURRENT_TIME,TIMER_INTERRUPT);
if(TIMER_INTERRUPT)
WATCHDOG_ACTIVE = 0;
sleep(1);
}
serializer_disconnect();
}
int main ()
{
float CENTER = 79.5;
float OFFSET = 0.05;
drone_connect();
enable_drone_vision();
drone_front_camera();
sleep(2);
drone_takeoff();
printf("Black button to exit test loop and land the drone");
float x, y;
track_update();
while(!black_button())
{
x = OFFSET * ((track_x(0,0) - CENTER) / CENTER);
y = OFFSET * ((track_y(0,0) - CENTER) / CENTER);
if(track_count(0) > 0)
{
printf("Items tracking: %d\n", track_count(0));
drone_move(0,0, x, y);
}
els
{
printf("No items: Hovering \n");
drone_hover();
}
sleep(4);
track_update();
}
printf("Landing");
drone_move(0,0,0,-.25);
sleep(0.5);
drone_land();
drone_disconnect();
return 0;
}
/* Global variables go below (if you absolutely need them).*/
int look_for_color_green() {
int x, y, color=2; // set up for color channel 2 (green)
while (black_button() == 0) //run till button is pressed
{
track_update(); // process the most recent image
if (track_count(color) > 0)
{ // get x, y for the biggest blob the channel sees
x = track_x(color,2); y = track_y(color,2);
printf("Biggest blob at (%d,%d)\n",x,y);
}
else
{ printf("No color match in Frame\n"); }
sleep(0.2); // give print time to register
}
printf("Program is done.\n");
}
int main()
{
//step 1
//print a haiku describing the sensor used in step 2
printf("This here example\n");//5 syllables
printf("One more clever solution\n");//7
printf("Written by Haiku\n");//5
//step 2 / 3
//print the value of a sensor every .1 seconds
//quit when the black button is pressed
while(!black_button()){//same as black_button()==0
printf("The ____ sensor reads:\t%d\n",analog(1));
sleep(.1);
}
}
int main()
{
int port_1 = 6;
int port_2 = 2;
set_each_analog_state(1,1,1,1,1,1,0,0);
while(!black_button())
{
//cbc_display_clear();
//printf(" see_bar(%d): %d\n",14,see_bar(14));
//printf(" see_bar(%d): %d\n",15,see_bar(15));
//printf("bar sensor (%d): %d\n",port_1, bar_sensor(14, 15));
//printf("analog to inches (%d): %f\n",port_1,analog(port_1));
printf("analog to inches (%d): %f\n",port_2, analog_to_inches_avg(port_2,10));
sleep(.3);
}
}
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));
}
}
}
void main()
{
init_captain_planet_with_our_powers_combined();
start_movement();
CURRENT = MID;
float cycle_start_time;
while(!black_button())
{
//cbc_display_clear();
cycle_start_time = CURRENT_TIME;
DESTINATION=calculate_destination();
printf("Setting Dest to: %d from: %d\n",DESTINATION,CURRENT);
move_to(CURRENT,DESTINATION);
CURRENT = DESTINATION;
CHARGED = dock(CURRENT);
printf("dock returned: %d\n", CHARGED);
update_source_order(cycle_start_time);
printf("SOURCE_ORDER: {%d,%d,%d} @ %f\n\n",SOURCE_ORDER[0],SOURCE_ORDER[1],SOURCE_ORDER[2], cycle_start_time);
sleep(.1);
}
serializer_disconnect();
}
int main()
{
printf("Press A for penis, B for v****a, or black button for titties!\n");
while(a_button() == 0 || b_button() == 0 || black_button() == 0)
{
if(a_button() == 1)
{
strategy = 1;
}
if(b_button() == 1)
{
strategy = 2;
}
if(black_button() == 1)
{
strategy = 3;
}
}
sleep(0.5);
if (strategy == 1)
{
printf("You picked penis as your first strategy, press B for v****a or black button for titties next\n");
while(b_button() == 0 || black_button() == 0)
{
if (b_button() == 1)
{
strategy = strategy * 10 + 2;
}
if (black_button() == 1)
{
strategy = strategy * 10 + 3;
}
}
}
if (strategy == 2)
{
printf("You picked v****a as your first strategy, press A for penis or black button for titties next\n");
while(a_button() == 0 || black_button() == 0)
{
if (a_button() == 1)
{
strategy = strategy * 10 + 1;
}
if (black_button() == 1)
{
strategy = strategy * 10 + 3;
}
}
}
if (strategy == 3)
{
printf("You picked titties as your first strategy, press A for penis or B for v****a next\n");
while(a_button() == 0 || b_button() == 0)
{
if (a_button() == 1)
{
strategy = strategy * 10 + 1;
}
if (b_button() == 1)
{
strategy = strategy * 10 + 2;
}
}
}
if (strategy - 1 / 10 == 2)
{
strategy = 213;
}
//Someone else can finish the rest :l
}
void kissSimComputerDraw()
{
int oriX=ksWindow.simWidth, oriY=0, i;
static char digitals[]="0 0 0 0 0 0 0 0";
static char buttons[]="0 0 0 0 0 0 0";
static char analogs[11][10]={" "," "," "," "," "," "," "," "," "," "," "};
static char actuators[4][25]={" "," "," "," "};
static char servos[4][25]={" "," "," "," "};
if(!glfwGetWindowParam(GLFW_OPENED)) return;
graphics_rectangle_fill(oriX,oriY,oriX+1,ksWindow.height,BLACK); // draw left border
draw_bg(oriX+5,oriY+9,0.36); // Botguy
NOBOLD g_printString(" CBC SIMULATOR",oriX+25, oriY+10,TEAL,1.0);
NOBOLD g_printString(" DIGITALS ",oriX+25, oriY+40,TEAL,1.0);
NOBOLD g_printString("0 1 2 3 4 5 6 7",oriX+25, oriY+55,TEAL,1.0);
NOBOLD g_printString(" BUTTONS ",oriX+25, oriY+90,TEAL,1.0);
//NOBOLD g_printString("< ^ V > A B .",oriX+30, oriY+105,TEAL,1.0);
NOBOLD g_printString("\xb \xd \xe \xc A B .",oriX+30, oriY+105,TEAL,1.0);
// hex b, c, d, e are left, right, up, and down arrows
NOBOLD g_printString(digitals,oriX+25, oriY+70,WHITE,1.0); // erase old digital values
NOBOLD g_printString(" ANALOGS ",oriX+25, oriY+140,TEAL,1.0);
for(i=0;i<8;i++){
digitals[2*i]=48+digital(i);
}
NOBOLD g_printString(digitals,oriX+25, oriY+70,BLACK,1.0); // write new digital values
NOBOLD g_printString(buttons,oriX+30, oriY+120,WHITE,1.0); // erase old button values
buttons[0]=48+!!left_button();
buttons[2]=48+!!up_button();
buttons[4]=48+!!down_button();
buttons[6]=48+!!right_button();
buttons[8]=48+!!a_button();
buttons[10]=48+!!b_button();
_bob.button=!!kiss_get_key('.');
buttons[12]=48+black_button();
NOBOLD g_printString(buttons,oriX+30, oriY+120,BLACK,1.0); // erase old button values
for(i=8;i<16;i++){//print out analogs
analogs[i-8][1]=(i<10)?48+i:48+i-10;
analogs[i-8][0]=(i<10)?32:49;
analogs[i-8][2]=':';
analogs[i-8][3]=' ';
NOBOLD g_printString(analogs[i-8],oriX+5, oriY+155+(15*(i-8)),WHITE,1.0);
convertNumToString(analog10(i),4,*analogs,10,i-8,3);
graphics_rectangle_fill(oriX+30,oriY+155+(15*(i-8)),oriX+157, oriY+165+(15*(i-8)),GRAY);
graphics_line(oriX+30+analog(i)/2, oriY+155+(15*(i-8)),oriX+30+analog(i)/2,oriY+165+(15*(i-8)),RED);
NOBOLD g_printString(analogs[i-8],oriX+5, oriY+155+(15*(i-8)),BLACK,1.0);
}
analogs[8][1]='X';
analogs[8][0]='A';
analogs[8][2]=':';
analogs[8][3]=' ';
NOBOLD g_printString(analogs[8],oriX+5, oriY+155+(15*(8)),WHITE,1.0);
convertNumToString(accel_x(),5,*analogs,10,8,3);
graphics_rectangle_fill(oriX+30,oriY+155+(15*(8)),oriX+157, oriY+165+(15*(8)),GRAY);
graphics_line(oriX+30+(accel_x()+2048)/32, oriY+155+(15*(8)),oriX+30+(accel_x()+2048)/32,oriY+165+(15*(8)),RED);
NOBOLD g_printString(analogs[8],oriX+5, oriY+155+(15*(8)),BLACK,1.0);
analogs[9][1]='Y';
analogs[9][0]='A';
analogs[9][2]=':';
analogs[9][3]=' ';
NOBOLD g_printString(analogs[9],oriX+5, oriY+155+(15*(9)),WHITE,1.0);
convertNumToString(accel_y(),5,*analogs,10,9,3);
graphics_rectangle_fill(oriX+30,oriY+155+(15*(9)),oriX+157, oriY+165+(15*(9)),GRAY);
graphics_line(oriX+30+(accel_y()+2048)/32, oriY+155+(15*(9)),oriX+30+(accel_y()+2048)/32,oriY+165+(15*(9)),RED);
NOBOLD g_printString(analogs[9],oriX+5, oriY+155+(15*(9)),BLACK,1.0);
analogs[10][1]='Z';
analogs[10][0]='A';
analogs[10][2]=':';
analogs[10][3]=' ';
NOBOLD g_printString(analogs[10],oriX+5, oriY+155+(15*(10)),WHITE,1.0);
convertNumToString(accel_z(),5,*analogs,10,10,3);
graphics_rectangle_fill(oriX+30,oriY+155+(15*(10)),oriX+157, oriY+165+(15*(10)),GRAY);
graphics_line(oriX+30+(accel_z()+2048)/32, oriY+155+(15*(10)),oriX+30+(accel_z()+2048)/32,oriY+165+(15*(10)),RED);
NOBOLD g_printString(analogs[10],oriX+5, oriY+155+(15*(10)),BLACK,1.0);
NOBOLD g_printString("MOT PWM TPS ENCODER VAL",oriX+5, oriY+330,TEAL,1.0);
for(i=0;i<4;i++){
actuators[i][0]=48+i;
actuators[i][1]=':';
actuators[i][2]=' ';
NOBOLD g_printString(actuators[i],oriX+5, oriY+345+(15*(i)),WHITE,1.0);
convertNumToString(_bob.motor_pwm[i],4,*actuators,25,i,2);
convertNumToString(_bob.motor_tps[i],4,*actuators,25,i,7);
convertNumToString(_bob.motor_counter[i],10,*actuators,25,i,12);
NOBOLD g_printString(actuators[i],oriX+5, oriY+345+(15*(i)),BLACK,1.0);
}
if(_bob.enable_servos){
NOBOLD g_printString("SERVO TARGET DISABLED",oriX+5, oriY+410,WHITE,1.0);
NOBOLD g_printString("SERVO TARGET ENABLED",oriX+5, oriY+410,TEAL,1.0);
}
else {
NOBOLD g_printString("SERVO TARGET ENABLED",oriX+5, oriY+410,WHITE,1.0);
NOBOLD g_printString("SERVO TARGET DISABLED",oriX+5, oriY+410,TEAL,1.0);
}
for(i=0;i<4;i++){
servos[i][2]=49+i;//servos are 1 indexed!!
servos[i][3]=':';
servos[i][4]=' ';
NOBOLD g_printString(servos[i],oriX+5, oriY+425+(15*(i)),WHITE,1.0);
convertNumToString(_bob.servo_targets[i],4,*servos,25,i,6);
NOBOLD g_printString(servos[i],oriX+5, oriY+425+(15*(i)),BLACK,1.0);
}
}
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();
}
int main()
{
enable_servos();
create_connect();
set_each_analog_state(1,0,0,0,0,0,0,0);
/*
while(up_button()==0)
{
while(black_button() ==0) {}
clawSB();
armPosSB();
while(black_button() ==0) {}
clawGrab();
clawOpen();
armPosBlockGrab();
while(black_button() ==0) {}
clawClose();
while(black_button() ==0) {}
armPosBlockStack1();
clawStack1();
while(black_button() ==0) {}
clawOpen();
while(black_button() ==0) {}
clawGrab();
armPosBlockGrab();
while(black_button() ==0) {}
clawClose();
while(black_button() ==0) {}
/*set_servo_position(SERVO_ARM_LEFT_PORT, SERVO_ARM_LEFT_STACK2);
set_servo_position(SERVO_ARM_RIGHT_PORT, SERVO_ARM_RIGHT_STACK2);
set_servo_position(SERVO_CLAW_LEFT_PORT, SERVO_CLAW_LEFT_STACK2);
set_servo_position(SERVO_CLAW_RIGHT_PORT, SERVO_CLAW_RIGHT_STACK2);
sleep(2);
armPosBlockStack2();
clawStack2();
while(black_button() ==0) {}
clawOpen();
}*/
//reach first blocks
armPosBlockStack1();
clawStack1();
clawOpen();
detectBlock();
//back up
backFromTouch(0);
//arm to correct pos
armPosBlockGrab();
clawGrab();
//scoot up and grab
scootUp(0);
clawClose();
while(black_button() == 0) {}
driveAtMmFor(200, 2);
//drive with arm a bit up, place first pair of cubes
armPosBlockStack1();
clawStack1();
detectPVC();
set_servo_position(SERVO_ARM_LEFT_PORT, SERVO_ARM_LEFT_GRAB+300);
set_servo_position(SERVO_ARM_RIGHT_PORT, SERVO_ARM_RIGHT_GRAB-300);
set_servo_position(SERVO_CLAW_LEFT_PORT, SERVO_CLAW_LEFT_GRAB+100);
set_servo_position(SERVO_CLAW_RIGHT_PORT, SERVO_CLAW_RIGHT_GRAB-100);
backFromTouch(1);
//correct pos
armPosBlockGrab();
clawGrab();
//scoot up
scootUp(1);
clawOpen();
driveAtMmFor(200, 2);
while(black_button() == 0) {}
clawClose();
//drive with arm a bit up, place second pair on top of first
armPosBlockStack1();
clawStack1();
set_servo_position(SERVO_ARM_LEFT_PORT, SERVO_ARM_LEFT_STACK1+300);
set_servo_position(SERVO_ARM_RIGHT_PORT, SERVO_ARM_RIGHT_STACK1-300);
set_servo_position(SERVO_CLAW_LEFT_PORT, SERVO_CLAW_LEFT_STACK1+200);
set_servo_position(SERVO_CLAW_RIGHT_PORT, SERVO_CLAW_RIGHT_STACK1-200);
detectBlock();
backFromTouch(2);
//correct pos
clawStack1();
armPosBlockStack1();
clawOpen();
driveAtMmFor(200, 2);
armPosBlockGrab();
clawGrab();
while(black_button() == 0) {}
clawClose();
armPosBlockStack2();
clawStack2();
detectPVC();
backFromTouch(3);
clawOpen();
driveAtMmFor(200, 2);
}
