int main()
{
prepare();
#ifdef TEST
test();
#endif
move(BALL1);
#ifdef TEST
test();
#endif
getBalls();
#ifdef TEST
test();
#endif
move(BALL2);
#ifdef TEST
test();
#endif
getBalls();
#ifdef TEST
test();
#endif
move(BALL3);
#ifdef TEST
test();
#endif
getBalls();
#ifdef TEST
test();
#endif
move(BALL4);
#ifdef TEST
test();
#endif
getBalls();
#ifdef TEST
test();
#endif
move(STORAGE1);
#ifdef TEST
test();
#endif
releaseBalls(BOX);
#ifdef TEST
test();
#endif
move(STORAGE2);
#ifdef TEST
test();
#endif
releaseBalls(ROTATOR);
#ifdef TEST
test();
#endif
stop();
return 0;
}
task main()
{
init();
wait1Msec(1000);
sticksDown();
raiseLift(100);
time1[T1]=0;
while (nMotorEncoder[intake] < 430 && time1[T1] < 2500) //while the encoder wheel turns one revolution
{
times = time1[T1];
}
allStop();
wait1Msec(500);
//if(time1[T1]>2500)
// while(true){
// nxtDisplayCenteredBigTextLine(1,":(");
// }
releaseBalls();
allStop();
wait1Msec(3000);
retainBalls();
allStop();
wait1Msec(750);
lowerLift(20);
while (nMotorEncoder[intake] > 220) //while the encoder wheel turns one revolution
{
}
allStop();
wait1Msec(500);
releaseAutoBall();
intakeIn(100);
wait1Msec(600);
allStop();
wait1Msec(500);
sticksUp();
wait1Msec(3000);
while(SensorValue[sonarSensor]>25){allStop();}
wait1Msec(2000);
sticksDown();
allStop();
wait1Msec(500);
raiseLift(100);
while (nMotorEncoder[intake] < 1000) //while the encoder wheel turns one revolution
{
}
allStop();
wait1Msec(500);
releaseBalls();
allStop();
wait1Msec(3000);
retainBalls();
allStop();
wait1Msec(750);
lowerLift(20);
while (nMotorEncoder[intake] > 740) //while the encoder wheel turns one revolution
{
}
allStop();
wait1Msec(500);
}
task main()
{
init();
waitForStart();
driveSonar(1,25,80);
allStop();
wait1Msec(100);
backward(20);
wait1Msec(700);
sticksDown();
wait1Msec(250);
allStop();
wait1Msec(100);
raiseLift(100);
time1[T1]=0;
while (nMotorEncoder[intake] < 410 && time1[T1] < 2500) //while the encoder wheel turns one revolution
{
times = time1[T1];
}
allStop();
wait1Msec(500);
//if(time1[T1]>2500)
// while(true){
// nxtDisplayCenteredBigTextLine(1,":(");
// }
releaseBalls();
allStop();
wait1Msec(3000);
retainBalls();
allStop();
wait1Msec(750);
lowerLift(80);
while (nMotorEncoder[intake] > 220) //while the encoder wheel turns one revolution
{
}
allStop();
wait1Msec(500);
releaseAutoBall();
wait1Msec(500);
motor[intake] = 100;
wait1Msec(1000);
motor[intake] = 0;
turn(0,180,100);
allStop();
wait1Msec(100);
drive(1,1,75);
sticksUp();
drive(0,1,75);
time1[T1]=0;
while(SensorValue[sonarSensor]>30||time1[T1]<1200){
left(50);
}
while(SensorValue[sonarSensor]<200){
left(50);
}
allStop();
wait1Msec(100);
turn(0,25,70);
allStop();
wait1Msec(100);
driveSonar(1,25,50);
backward(30);
wait1Msec(700);
sticksDown();
wait1Msec(250);
allStop();
raiseLift(100);
while (nMotorEncoder[intake] < 1000) //while the encoder wheel turns one revolution
{
}
allStop();
wait1Msec(500);
releaseBalls();
allStop();
wait1Msec(3000);
retainBalls();
allStop();
wait1Msec(750);
lowerLift(80);
while (nMotorEncoder[intake] > 740) //while the encoder wheel turns one revolution
{
}
allStop();
wait1Msec(500);
}
task main()
{
init();
waitForStart();
StartTask(keepHeading);
StartTask(raiseLiftWhile);
driveSonar(1,25,50);
allStop();
wait1Msec(100);
backward(20);
wait1Msec(700);
sticksDown();
wait1Msec(250);
allStop();
wait1Msec(300);
//LIFT
releaseBalls();
allStop();
wait1Msec(3000);
retainBalls();
allStop();
wait1Msec(750);
lowerLift(80);
while (nMotorEncoder[intake] > 220) //while the encoder wheel turns one revolution
{
}
allStop();
wait1Msec(100);
turn(1,19,70);
allStop();
wait1Msec(100);
drive(0,2.0,100);
allStop();
wait1Msec(100);
turn(0,170,100);
allStop();
wait1Msec(100);
sticksUp();
drive(1,.3,100);
allStop();
wait1Msec(100);
turn(0,180,100);
allStop();
wait1Msec(100);
//while(SensorValue[sonarSensor]>40){
// backward(100);
//}
//turnToGlobalHeading(-15);
allStop();
wait1Msec(100);
drive(1,1.3,100);
allStop();
wait1Msec(100);
turnToGlobalHeading(-78);
allStop();
wait1Msec(100);
while(SensorValue[sonarSensor]>25){
backward(30);
}
allStop();
wait1Msec(100);
while(SensorValue[sonarSensor]<200){
left(50);
}
allStop();
wait1Msec(100);
turn(0,18,100);
allStop();
wait1Msec(100);
driveSonar(1,25,50);
backward(30);
wait1Msec(700);
sticksDown();
wait1Msec(250);
allStop();
turn(1,17,70);
allStop();
wait1Msec(100);
drive(0,2.7,100);
allStop();
wait1Msec(100);
turn(0,175,100);
allStop();
wait1Msec(50);
sticksUp();
drive(1,.8,100);
}
