task main()
{
initializeRobot();
waitForStart();
moveforward();
wait1Msec(1000);
ereset();
moveforward();
wait1Msec(300);
}
task main()
{
initializeRobot();
ereset();
waitForStart();
ch = 1;
brake();
wait1Msec(300);
{
motor[motorH] = 50;
motor[motorI] = 50;
wait1Msec(300);
motor[motorH] = 0;
motor[motorI] = 0;
movebackward();
wait1Msec(2000);
servo[servo3] = 247;
brake(); //temporary stop
wait1Msec(300);
turnleft(); //turn left to face the center goal structure
wait1Msec(1100);
brake(); //temporary stop
wait1Msec(100);
turnright();
wait1Msec(1100);
brake();
wait1Msec(100);
movebackward();// move forward to the center goal structure
wait1Msec(2525);
brake();
wait1Msec(1000);
if (SensorRaw(irs) > 3 && SensorRaw(irs) < 7)//checks for the ir value to know if the center goal structure is at postion 1
{ //center goal structure is in the 1
moveforward(); // move forward to be adjacent to the kickstand
wait1Msec(650);
brake(); //temporary stop
wait1Msec(50);
turnright(); //turn right to face the kickstand
wait1Msec(1550);
brake(); //temporary stop
wait1Msec(100);
moveforward(); //moveforward to knock down the kickstand and to be adjacent to the ir beacon and center goal
wait1Msec(1250);
brake();
wait10Msec(3000);
motor[motorH] = -50;//resets the initialize
motor[motorI] = -50;
wait1Msec(300);
motor[motorH] = 0;//stops the 80/20 so that it does not move
motor[motorI] = 0;
}
else if(SensorRaw(irs) <= 3 || SensorRaw(irs) >= 7)//if the ir sensor senses a value between 3 and 7
{ //center goal is in position 2/3
movebackward();//move the robot back to be adjacent to the ir beacon
wait1Msec(900);
turnleft();//turns left to check for position 2.
wait1Msec(900);
movebackward();//moves abckwards to be next to the ir beacon
wait1Msec(1250);
ch = 0;//gives the integer chicks the value of of 0
}
if (SensorRaw(irs) >= 7 && SensorRaw(irs) <= 8)//if ir value is between 7 and 8
{ //center goal structure is in the 3 position
while(SensorRaw(irs) < 5)//if it senses a value less than 5 until it senses at 5
{
movebackward();
}
moveforward();//moves the robot forward to be adjacent to the
wait1Msec(500);
turnright();//turn right to face the kickstand
wait1Msec(900);
moveforward();//knocks down the kickstand
wait1Msec(1000);
}
else
{ //center goal structure is in the 2 position
moveforward();//move forward to be adjacent to the kickstand
wait1Msec(1259);
turnright();//turn right to face the kickstand
wait1Msec(1600);
moveforward();//move forward to knock down the kickstand
wait1Msec(1500);
}
}
}