int main() // main function
{
drive_setRampStep(10); // 10 ticks/sec / 20 ms
drive_ramp(128, 128); // Forward 2 RPS
// While disatance greater than or equal
// to 20 cm, wait 5 ms & recheck.
while(ping_cm(8) >= 20) pause(5); // Wait until object in range
drive_ramp(0, 0); // Then stop
// Turn in a random direction
turn = rand() % 2; // Random val, odd = 1, even = 0
if(turn == 1) // If turn is odd
drive_speed(64, -64); // rotate right
else // else (if turn is even)
drive_speed(-64, 64); // rotate left
// Keep turning while object is in view
while(ping_cm(8) < 20); // Turn till object leaves view
drive_ramp(0, 0); // Stop & let program end
}
int main() // Main function
{
low(26);
low(27);
int irLeft, irRight;
// Add startup code here.
int leftDist, rightDist;
while(1)
{
drive_setRampStep(10);
drive_ramp(64, 64);
while(1)
{
irLeft = checkLeft();
irRight = checkRight();
irRight = ping_cm(8);
print ("left = %d, right = %d \n", irLeft, irRight);
if(irLeft == 1)
{
high(26);
}
else
{
low(26);
}
if(ping_cm(8)<=10)
{
high(27);
}
else
{
low(27);
}
if(irLeft == 1)
{
drive_ramp(0, 0);
turnLeftH();
print (" Left empty hall detected");
break;
}
if (ping_cm(8)<=9)
{
drive_ramp(0, 0);
turnBack();
print (" End of the line");
break;
}
}
}
}
int main() // main function
{
pause(1000);
//low(27);
while(1)
{ // Realiza el ping frontal y del lado para chequear que haya espacio disponible
sFront = ping_cm(8);
sRight = ping_cm(10);
while(sFront >= 10 && sRight < 19)
{
sFront = ping_cm(8);
sRight = ping_cm(10);
drive_ramp(50,50);
pause(5); // Wait until object in range
}
/*drive_ramp(20,20);
cont = 0;
while(cont < 20)
{
cont++;
pause(5);
}*/
// Si el sensor lateral tiene suficiente espacio gira a la derecha
if(sRight < 19)
{
drive_speed(-30,30);
cont = 0;
while(cont < 97)
{
cont++;
pause(5);
}
}else{
cont = 0;
while(cont < 160)
{
drive_ramp(30,30);
cont++;
pause(5);
}
// Si el frente y la derecha estan cubiertos gira a la izquierda
drive_speed(30,-30);
cont = 0;
while(cont < 148)
{
cont++;
pause(5);
}
drive_speed(50,50);
cont = 0;
while(cont < 180)
{
cont++;
pause(5);
}
}
}
}
