task main() {
HTSPBsetupIO(HTSPB, 0x10);
HTSPBwriteAnalog(HTSPB, HTSPB_DACO0, DAC_MODE_SQUAREWAVE, TONE_C4, 1023);
wait1Msec(200);
HTSPBwriteAnalog(HTSPB, HTSPB_DACO0, DAC_MODE_SQUAREWAVE, TONE_DS4, 1023);
wait1Msec(400);
HTSPBwriteAnalog(HTSPB, HTSPB_DACO0, DAC_MODE_SQUAREWAVE, TONE_E4, 1023);
wait1Msec(200);
HTSPBwriteAnalog(HTSPB, HTSPB_DACO0, DAC_MODE_SQUAREWAVE, 1, 0);
wait1Msec(200);
HTSPBwriteAnalog(HTSPB, HTSPB_DACO0, DAC_MODE_SQUAREWAVE, TONE_F4, 1023);
HTSPBwriteAnalog(HTSPB, HTSPB_DACO1, DAC_MODE_SQUAREWAVE, TONE_A4, 1023);
wait1Msec(200);
HTSPBwriteAnalog(HTSPB, HTSPB_DACO0, DAC_MODE_SQUAREWAVE, TONE_E4, 1023);
HTSPBwriteAnalog(HTSPB, HTSPB_DACO1, DAC_MODE_SQUAREWAVE, TONE_G4, 1023);
wait1Msec(200);
HTSPBwriteAnalog(HTSPB, HTSPB_DACO0, DAC_MODE_SQUAREWAVE, TONE_C4, 1023);
HTSPBwriteAnalog(HTSPB, HTSPB_DACO1, DAC_MODE_SQUAREWAVE, TONE_E4, 1023);
wait1Msec(400);
HTSPBwriteAnalog(HTSPB, HTSPB_DACO0, DAC_MODE_SQUAREWAVE, 1, 0);
HTSPBwriteAnalog(HTSPB, HTSPB_DACO1, DAC_MODE_SQUAREWAVE, 1, 0);
}
task main() {
int inputdata;
ubyte outputdata;
int bit;
// Set B0 as output
HTSPBsetupIO(HTSPB, 0x1);
while(true) {
// Read a 10bit wide analogue value from A0
inputdata = HTSPBreadADC(HTSPB, 2, 10);
float wrist = (inputdata - rMin);
wrist /= (rMax - rMin);
servo [wristMain] = 255 * wrist;
nxtDisplayTextLine(1, "A2: %d", inputdata);
nxtDisplayTextLine(3, "W: %1.2f", wrist);
// Set the output bit based on the analogue input value
bit = (inputdata/128);
if (bit > 5) bit = 5;
outputdata = 1 << bit;
HTSPBwriteIO(HTSPB, outputdata);
wait1Msec(50);
}
}
task main() {
int sonarvalue;
ubyte outputdata;
int bit;
// The data to be written: 0x3F = 111111 binary,
// makes all digital ports outputs.
HTSPBsetupIO(HTSPB, 0x3F);
while(true) {
// Get the value from the LEGO sound sensor.
sonarvalue = SensorValue(US_PORT);
// Set the output bit based on the analogue input value
bit = sonarvalue / 10;
if (bit > 5) bit = 5;
outputdata = 1 << bit;
eraseDisplay();
nxtDisplayTextLine(1, "%d", sonarvalue);
HTSPBwriteIO(HTSPB, outputdata);
wait1Msec(50);
}
}
void init(){//**********************************INIT******************
HTSPBsetupIO(HTPB,0b00111000);//0 in 1 out
//light up for battery
servo[bucket]=120;
ubyte in=HTSPBreadIO(HTPB,0b00001111);//get autonomous settings!
bDisplayDiagnostics=false;
nMotorEncoder[back]=0;
nMotorEncoder[grab]=0;
nMotorEncoder[motorC]=0;
ClearTimer(T4);
HTSPBwriteIO(HTPB,turning);
while(nNxtButtonPressed!=3){
if(HTSPBreadIO(HTPB,0b01000000)>0)STARTINGPOS=1;
else STARTINGPOS=0;
delay=(int)(30000.0*((float)readAnalogInput(HTPB,0)/1023.0));
nxtDisplayCenteredBigTextLine(0,"WAITING!");
nxtDisplayCenteredBigTextLine(2,"%d",HTSPBreadIO(HTPB,0b11111111));
nxtDisplayCenteredBigTextLine(4,"%d",STARTINGPOS);
nxtDisplayCenteredBigTextLine(6,"%d",delay);
HTSPBwriteAnalog(HTPB,HTSPB_DACO0,DAC_MODE_SQUAREWAVE,1,620);
}
HTSPBwriteAnalog(HTPB,HTSPB_DACO0,DAC_MODE_DCOUT,1,0);
eraseDisplay();
nxtDisplayCenteredBigTextLine(0,"READY!");
calibrateGyro();
reset();
}
task main() {
// The data to be written: 0x30 = 110000 binary,
// makes B4,B5 digital ports outputs.
HTSPBsetupIO(HTSPB, 0x03);
while(true) {
// Turn off the LED
HTSPBwriteIO(HTSPB, 0x00);
eraseDisplay();
nxtDisplayTextLine(2, "running");
// Wait a random time between 3 and 8 seconds.
wait1Msec(random(5000) + 3000);
// Switch on the LED and reset the timer
HTSPBwriteIO(HTSPB, 0x01);
time1[T1] = 0;
// Wait for user to press the stop button
while (HTSPBreadIO(HTSPB, 0x30) != 0x10) {
wait1Msec(5);
}
eraseDisplay();
nxtDisplayTextLine(2, "Time: %d", time1[T1]);
// Wait for user to reset
while (HTSPBreadIO(HTSPB, 0x30) != 0x30) {
wait1Msec(5);
}
}
}
void initializeRobot ()
{
HTSPBsetupIO(HTSPB, 0x3);
setGrabber (grabberTarget/100.0);
setWrist (wristTarget/1000.0);
/* If the wrist is moving too quickly try changing the divisor in the setWrist equation from 1000.0 to 10000.0;
this will not make a huge difference, but it's worth a try. */
servo [rampLatch] = rampLatchClosed;
}
task test(){
HTSPBsetupIO(HTSPB, 0b11111000);
while(true){
HTSPBwriteIO(HTSPB, 0b00001000);
wait10Msec(100);
HTSPBwriteIO(HTSPB, 0b00000000);
wait10Msec(100);
}
}
void init(){
bDisplayDiagnostics=false;
// StartTask(batteryTask);
HTSPBsetupIO(HTPB,0b11110000);
batteryUpdate(HTPB);
nMotorEncoder[grab]=0;
servo[bucket]=81;
}
task main() {
// The data to be written: 0x10 = 010000 binary,
// makes B4 digital port an output.
HTSPBsetupIO(HTSPB, 0x10);
while(true) {
if(HTSPBreadIO(HTSPB, 0x01) == 0) {
eraseDisplay();
displayTextLine(1, "Magnet present");
HTSPBwriteIO(HTSPB, 0x10);
} else {
eraseDisplay();
displayTextLine(1, "Magnet absent");
HTSPBwriteIO(HTSPB, 0x00);
}
wait1Msec(50);
}
}
task main() {
int inputdata;
// Set B0 for output
HTSPBsetupIO(HTSPB, 0x1);
while(true) {
// Read a 10bit wide analogue value from A0
inputdata = HTSPBreadADC(HTSPB, 0, 10);
nxtDisplayTextLine(1, "A0: %d", inputdata);
// If A0 is less than 50% of the max value
// turn off the LED, otherwise switch it on
if(inputdata < 512)
HTSPBwriteIO(HTSPB, 0x00);
else
HTSPBwriteIO(HTSPB, 0x01);
wait1Msec(50);
}
}
task main() {
HTSPBsetupIO(HTSPB, 0x10);
while(true) {
// Read the value from the temp sensor
inputdata = HTSPBreadADC(HTSPB, 0, 10);
// Convert to an actual temperature
temperatureC = ((inputdata*3300)/1023-600)/10.0;
nxtDisplayTextLine(1, "Temp: %d C", temperatureC);
// If we're above 28 degrees, switch on the LED
if(temperatureC > THRESHOLD) {
HTSPBwriteIO(HTSPB, 0x10);
} else {
HTSPBwriteIO(HTSPB, 0x00);
}
wait1Msec(50);
}
}
task main() {
int inputdata;
ubyte outputdata;
int bit;
// Set B0 as output
HTSPBsetupIO(HTSPB, 0xFF);
while(true) {
// Read a 10bit wide analogue value from A0
inputdata = HTSPBreadADC(HTSPB, 0, 10);
displayTextLine(1, "A0: %d", inputdata);
// Set the output bit based on the analogue input value
bit = (inputdata/128);
if (bit > 5) bit = 5;
outputdata = 1 << bit;
HTSPBwriteIO(HTSPB, outputdata);
wait1Msec(50);
}
}
task main() {
short inputdata;
ubyte outputdata;
short bit;
// Set all digital IOs as outputs as output
HTSPBsetupIO(HTSPB, 0xFF);
while(true) {
// Read a 10bit wide analogue value from A0
inputdata = HTSPBreadADC(HTSPB, 0, 10);
displayTextLine(1, "A0: %d", inputdata);
// Set the output bit based on the analogue input value
bit = (inputdata/128);
if (bit > 5) bit = 5;
displayTextLine(2, "Bit: %d", bit);
outputdata = 1 << bit;
HTSPBwriteIO(HTSPB, outputdata);
sleep(50);
}
}
void init(){
HTSPBsetupIO(HTPB,0b11000000);
//light up for battery
batteryUpdate(HTPB);
servo[bucket]=120;
ubyte in=HTSPBreadIO(HTPB,0b00001111);//get autonomous settings!
bDisplayDiagnostics=false;
nMotorEncoder[back]=0;
nMotorEncoder[grab]=0;
nMotorEncoder[motorC]=0;
int sum=0;
for(int i=0;i<5;i++){
sum+=readAnalogInput(HTPB,1);
wait1Msec(100);
}
stationaryVoltage=sum/5;
while(nNxtButtonPressed!=3){
if(HTSPBreadIO(HTPB,0b00000100)>0)STARTINGPOS=1;
nxtDisplayCenteredBigTextLine(4,"%d",STARTINGPOS);
}
nxtDisplayCenteredBigTextLine(0,"WAITING");
}
