void wait_for_kill(void) { while (!side_button()) {} alloff(); motor(0, 0); motor(1, 0); motor(2, 0); motor(3, 0); alloff(); disable_servos(); create_drive_direct(0, 0); create_stop(); create_disconnect(); exit(0); }
void Setup() { alloff(); enable_encoder(0); enable_encoder(1); CompeteInit(1); }
void sort_balls(void) { start_spinner(); while (!side_button()) { msleep(50); camera_update(); camera_update(); if (get_object_count(kCameraChannelOrange) > 0 && get_object_confidence(kCameraChannelOrange, 0) >= 0.95 && get_object_area(kCameraChannelOrange, 0) > 500) { stop_spinner(); set_servo_position(kServoPortSorter, kServoPositionSorterOrange); msleep(200); set_servo_position(kServoPortSorter, kServoPositionSorterCenter); msleep(200); start_spinner(); } else if (get_object_count(kCameraChannelGreen) > 0 && get_object_confidence(kCameraChannelGreen, 0) >= 0.95 && get_object_area(kCameraChannelGreen, 0) > 500) { stop_spinner(); set_servo_position(kServoPortSorter, kServoPositionSorterGreen); msleep(200); set_servo_position(kServoPortSorter, kServoPositionSorterCenter); msleep(200); start_spinner(); } } alloff(); }
int main(int argc, char** argv) { clear_motor_position_counter(1); clear_motor_position_counter(2); motor(1, 30); motor(2, 30); while (!side_button()) { printf("pos: %i/%i\n", get_motor_position_counter(1), get_motor_position_counter(2)); msleep(10); } alloff(); return 0; }
void ao() { alloff(); }