task main () {
long encA = 0;
long encB = 0;
long encC = 0;
ubyte motorStatus = 0;
string motorAstatus;
string motorBstatus;
string motorCstatus;
eraseDisplay();
// Initialise all the internal variables
HDMMUXinit();
// Reset the encoders. This can be done individually or all at once.
// You should do this at the start of your program.
HDMMotorEncoderResetAll(HDMMUX);
// You can specify the type of braking that should be used when the motors
// are sent the stop command. The default is to use brake.
HDMMotorSetBrake(mmotor_S1_1);
HDMMotorSetFloat(mmotor_S1_2);
HDMMotorSetFloat(mmotor_S1_3);
// Specify a target for the motors to run to. This can be number of
// rotations, seconds or degrees (encoder count). Rotations and seconds
// may be specified in increments of 0.01.
HDMMotorSetRotationTarget(mmotor_S1_1, 4.50);
HDMMotorSetTimeTarget(mmotor_S1_2, 2.50);
HDMMotorSetEncoderTarget(mmotor_S1_3, 1000);
// Tell the motors to start moving.
HDMMotor(mmotor_S1_1, 50);
HDMMotor(mmotor_S1_2, 50);
HDMMotor(mmotor_S1_3, 50);
while (true) {
// Retrieve the motor-MUX's status info and encoder counts
HDMMUXreadStatus(HDMMUX, motorStatus, encA, encB, encC);
// Use the HDMMotorBusy() function to see if a motor is busy or idle.
motorAstatus = HDMMotorBusy(mmotor_S1_1) ? "busy" : "idle";
motorBstatus = HDMMotorBusy(mmotor_S1_2) ? "busy" : "idle";
motorCstatus = HDMMotorBusy(mmotor_S1_3) ? "busy" : "idle";
// Display the info.
nxtDisplayTextLine(5, "A: %5d (%s)", encA, motorAstatus);
nxtDisplayTextLine(6, "B: %5d (%s)", encB, motorBstatus);
nxtDisplayTextLine(7, "C: %5d (%s)", encC, motorCstatus);
wait1Msec(5);
}
}
task main () {
long encA = 0;
long encB = 0;
long encC = 0;
long timer = 0;
ubyte motorStatus = 0;
string motorAstatus;
bool done = false;
eraseDisplay();
// Initialise all the internal variables
HDMMUXinit();
// Reset the encoders. This can be done individually or all at once.
// You should do this at the start of your program.
HDMMotorEncoderResetAll(HDMMUX);
// You can specify the type of braking that should be used when the motors
// are sent the stop command. The default is to use brake.
HDMMotorSetBrake(mmotor_S1_1);
// Specify a motor 1 to run for 2.5 seconds.
HDMMotorSetTimeTarget(mmotor_S1_1, 2.50);
// Tell the motors to start moving.
HDMMotor(mmotor_S1_1, 50);
// Reset the timer
time1[T1] = 0;
// Give the motor time to get started
wait1Msec(50);
while (!done) {
// Retrieve the motor-MUX's status info and encoder counts
HDMMUXreadStatus(HDMMUX, motorStatus, encA, encB, encC);
// Use the HDMMotorBusy() function to see if a motor is busy or idle.
motorAstatus = HDMMotorBusy(mmotor_S1_1) ? "busy" : "idle";
if (!HDMMotorBusy(mmotor_S1_1) && timer == 0) {
timer = time1[T1];
nxtDisplayTextLine(0,"Time: %dms", timer);
done = true;
}
// Display the info.
nxtDisplayTextLine(6, "B: %5d (%s)", encB, motorAstatus);
EndTimeSlice();
}
wait1Msec(5000);
}
