ProgressUI *ProgressUI::showProgerss(QString txt, QWidget *p)
{
ProgressUI *ui = new ProgressUI();
ui->setText(txt);
ui->show();
if (p)
MovePcenter(p, ui);
else
movecenter(ui);
ui->activateWindow();
return ui;
}
int main()
{
// wait_for_light(7);
enable_servos();
set_servo_position(1,2000);
float threshold=190; // set threshold for light conditions
while(analog(4) <= 190 && analog(6) <= 190) {
movecenterslow(500);
}
if(analog(4) >= threshold ||analog(6) >= threshold) {
ao();
sleep(.5);
movecenterslow(400);
sleep(.2);
}
while(analog(4) <= 190 && analog(6) <= 190) {
movecenterslow(500);
}
ao();
turnCCW();
sleep(1);
movecenterfast(900);
sleep(3.2124512516);
turnCW();
while(analog(4) <= 190 && analog(6) <= 190) {
movecenterfast(500);
}
ao();
sleep(8);
movecenterfast(800);
sleep(1);
while(analog(4) <= 190) {
movecenterslow(500);
}
ao();
//at this point it has stopped at our side of the center divider
set_servo_position(1, 1600); //lift up the arms enough so that the robot can still detect the line while clearing the center bump.
while(analog(4) >= 190 || analog(6) >= 190)
{
movecenterfast(900); //move forward as long as both of the sensors arent over white
}
set_servo_position(1,2000);
turnCCW();
//insert tower tracking function here (possibly move servos to knock over towers
turnCW();
turnCW();
movecenterfast(900);
sleep(1);
turnCCW();
LuggageTrack(); //track and pick up luggage
movecenterbackwards(600);
sleep(3);
ao();
set_servo_position(1,200);
movecenterbackwards(400);
sleep(1);
ao();
turnCCW();
movecenter(600);
sleep(1.5);
ao();
turnCW();
while(analog(4) <= 190 && analog(6) <= 190) {
movecenterslow(350);
}
ao();
movecenterslow(200);
sleep(0.3);
ao();
}
