void calibrate(){
printf("Bitte setze alle Sensoren auf den schwarzen Streifen \n");
set_b_button_text("calibrate");
while(!b_button()){
printf("left "); printf("%i",analog10(LEFT_SENSOR)); printf("\n");
printf("right "); printf("%i",analog10(RIGHT_SENSOR)); printf("\n");
msleep(100);
display_clear();
}
right_blk = analog10(RIGHT_SENSOR);
left_blk = analog10(LEFT_SENSOR);
mid_blk =analog10(MIDDLE_SENSOR);
set_b_button_text("start");
msleep(500);
printf("left "); printf("%i",left_blk); printf("\n");
printf("right "); printf("%i",right_blk); printf("\n");
printf("middle_black"); printf("%i",mid_blk); printf("\n");
while(!b_button()){}
set_a_button_text("Press-");
set_b_button_text("-Red-");
set_c_button_text("-Stop");
}
int main()
{
printf("Hello, World!\n");
set_a_button_text("Some button a");
set_b_button_text("That other button");
set_c_button_text("Useless button");
create_connect();
printf("The buttons have been renamed.\n Deal with it.\n Press button 'some button' &\n 'That other button' for beeps.\n 'Useless button' stops the beeps.\n");
while (side_button() ==0){
if (a_button() == 1){// can hold for continuous beeps
printf("beep\n");
beep();
msleep(500);
}
else if (b_button_clicked() == 1){// must release button
printf("beep-beep\n");
beep();
msleep(300);
beep();
}
else {
printf("No button pressed.\n");
}
}
printf("I quit");
create_disconnect();
return 0;
}
int main()
{
int i, off=0, on=1, lports[]=LIGHT_PORTS, pcnt, w=40, m=5;
float s;
graphics_open(320,240);
for(i=0;i<256;i+=5) {
graphics_fill(i,i,i);
graphics_update();
}
SplashBG(320, 240);
msleep(1000);
graphics_close();
pcnt=NPORTS(lports);
for(i=8;i<16;i++) { // change the digital ports to output
set_digital_output(i,1);
}
srand(time(NULL)); // prime random number generation
while(1) {
table_lights(lports,pcnt,off); // shut off table lights
setup(); // team setup (light calibration w/time out option)
// setup done, including any time outs so proceed with judge's setup
//get_shelf_positions(); // display orange/yellow block set up for judges - 2014
get_bgal_pod_positions(); // display left-right positions for Botgal & pod - 2015
set_a_button_text("QUIT"); set_b_button_text("-"); set_c_button_text("-");
graphics_close(); // close any open graphics
graphics_open(3*w,62);
display_clear();
display_printf(0,0,"************** BOTBALL 2015 **************");
display_printf(0,1," LIGHTS ON IN");
display_printf(0,2,"******************************************");
display_printf(0,9," Press QUIT to stop count down");
if (countdown_sd(5,1,BLUE,YELLOW,m,w)) continue;
s=seconds();
// 2015
table_lights(lports,pcnt,on); // on for 115 seconds
display_printf(0,1," GAME CLOCK - LIGHTS ON TILL 5");
if (countdown(120,11,GREEN,BLUE,m,w)) continue;
// end 2015
/*
// 2014
table_lights(lports,pcnt,on); // on for 15 seconds
display_printf(0,1," GAME CLOCK - LIGHTS ON TILL 105");
if (countdown(120,106,GREEN,BLUE,m,w)) continue;
table_lights(lports,pcnt,off); // of for 100 seconds
display_printf(0,1," GAME CLOCK - LIGHTS OFF TILL 5");
if (countdown(105,11,LTBLUE,RED,m,w)) continue;
// end 2014
*/
if (countdown(10,6,LTORANGE,BLUE,m,w)) continue;
display_printf(0,1," GAME CLOCK - LIGHTS BLINK TILL 0");
i=5+(seconds()-s);
if (blinkdown(5,0,RED,YELLOW,m,w,lports,pcnt)) continue;
display_printf(0,1," GAME CLOCK - %d ",i);
display_printf(0,9," ***** GAME OVER! ***** ");
table_lights(lports,pcnt,off); // shut off table lights
msleep(5000); // pause display
}
return 0;
}
void start_buttons() {
extra_buttons_show();
set_a_button_text("Image");
set_b_button_text("Grayscale");
set_c_button_text("Canny");
set_x_button_text("HoughLines");
set_y_button_text("Take picture");
}
void calibrate(){
printf("Bitte setze alle Sensoren auf den schwarzen Streifen\n");
set_a_button_text("calibrate");
while(!digital(BUTTON)){}
right_blk = analog10(RIGHT_SENSOR);
left_blk = analog10(LEFT_SENSOR);
msleep(500);
printf("left ");
printf("%i",left_blk);
printf("\n");
printf("right ");
printf("%i",right_blk);
printf("\n");
set_a_button_text("start");
while(!digital(BUTTON)){}
set_a_button_text("A");
set_b_button_text("stop");
}
void get_bgal_pod_positions()
{
// screen size (scols,srows), box size (bxcols,bxcols), separator m pixels
// random block positions p1, p2 set by function picks
int srows=120,scols=160, bpos, ppos;
graphics_close(); // close any existing graphics window
display_clear(); // prep screen
set_a_button_text("COUNTDOWN"); set_b_button_text("-"); set_c_button_text("-");
graphics_open(scols,srows);
graphics_fill(WHITE);
bpos=rand()%2;
if (bpos==0) ppos=1;
else ppos=0;
// draw field
graphics_rectangle(3,3,157,117,BLACK); // outline
graphics_rectangle(3,3,70,50,BLACK); // quads
graphics_rectangle(90,3,157,50,BLACK);
graphics_rectangle(3,70,70,117,BLACK);
graphics_rectangle(90,70,157,117,BLACK);
graphics_rectangle_fill(70,3,90,50,LTBROWN); // mesa
graphics_rectangle(70,3,90,50,BLACK);
graphics_rectangle_fill(70,70,90,117,LTBROWN);
graphics_rectangle(70,70,90,117,BLACK);
graphics_rectangle_fill(72,50,88,70,LTGRAY); // caldera
graphics_rectangle(72,50,88,70,BLACK);
graphics_rectangle_fill(20,3,25,50,TEAL); // lines
graphics_rectangle_fill(135,3,140,50,TEAL);
graphics_rectangle_fill(20,70,25,117,PINK);
graphics_rectangle_fill(135,70,140,117,PINK);
if (bpos==0) {
draw_bg(73,13,0.2);
graphics_rectangle_fill(74,87,86,102,GREEN);
}
else {
draw_bg(73,82,0.2);
graphics_rectangle_fill(74,18,86,32,GREEN);
}
graphics_update();
display_printf(2,0,"Set Botgal and Botpod ");
while(a_button()==0);
while(a_button()==1); // debounce
}
int main()
{
msleep(2500);
set_analog_pullup(ET_s , 0);
extra_buttons_show(1); // show three extra buttons
set_a_button_text("COORDS"); // set the text of various buttons
set_b_button_text("POM SIZE");
set_c_button_text("BOTGUY SIZE");
set_x_button_text("CUBE SIZE");
lego.left.port = 0; // set motor ports
lego.right.port = 2;
camera_open(LOW_RES);
camera_update();
while (a_button() == 0) // press the a button to set the coordinates
{
camera_update();
target.green.x = get_object_center(0 , 0).x; // sets target coordinates (x)
target.green.y = get_object_center(0 , 0).y; // sets target coordinates (y)
printf("(%d , %d)\n" , target.green.x , target.green.y);
msleep(10);
}
while (b_button() == 0)
{
camera_update();
target.green.size = get_object_area(0 , 0);
target.orange.size = get_object_area(1 , 0);
printf("Orange Size = %d" , target.orange.size);
printf(" Green Size = %d\n" , target.green.size);
}
enable_servo(arm_servo);
enable_servo(push_servo);
enable_servo(basket_servo);
set_servo_position(arm_servo , ARM_UP);
set_servo_position(push_servo , P_DOWN);
set_servo_position(basket_servo , B_UP);
printf("(%d , %d)\n" , target.green.x , target.green.y);
while(a_button() == 0)
{
printf("%d , %d , %d\n" , get_left() , get_middle() , get_right());
}
while (1) // line follow until poms are seen
{
blob_update();
t_line_follow();
if (current.orange.size > target.orange.size && current.green.size > target.green.size)
break;
}
blob_update();
get_pom(); // pick up a pom
pom_push(); // push it into the basket
while (1) // turn to next pom
{
blob_update();
mav(lego.left.port , 300);
mav(lego.right.port , -300);
msleep(10);
if (current.green.size > target.green.size)
break;
}
blob_update();
get_pom(); // pick up pom
pom_push(); // push it into the basket
avoid_cubeguy(); // avoid the cube or botguy
avoid_booster();
while (1)
{
blob_update();
t_line_follow();
if (current.orange.size > target.orange.size && current.green.size > target.green.size)
break;
}
blob_update();
pom_push();
while (1)
{
blob_update();
mav(lego.left.port , 300);
mav(lego.right.port , -300);
msleep(10);
if (current.green.size > target.green.size)
break;
}
blob_update();
get_pom();
pom_push();
avoid_cubeguy();
int start_time = seconds();
int t;
while (1)
{
t_line_follow();
if (seconds() < start_time + t)
break;
}
while (1)
{
}
}
int main()
{
int m1=0,m2=3,pageno=0;
double createDriveTime;
printf("Start!\n");
extra_buttons_show();
while (1)
{
while (pageno == 0)
{
set_a_button_text("Forward");
set_b_button_text("Backward");
set_c_button_text("All Off");
set_x_button_text("OpenHand");
set_y_button_text("CloseHand");
set_z_button_text("Create Page");
if (a_button_clicked())
{
printf("Moving forward...\n");
motor(m1,100);
motor(m2,100);
while (!c_button_clicked())
{
msleep(1);
}
ao();
}
if (b_button_clicked())
{
printf("Moving backward...\n");
motor(m1,-100);
motor(m2,-100);
while (!c_button_clicked())
{
msleep(1);
}
ao();
}
if (x_button_clicked())
{
enable_servo(3);
set_servo_position(3,0);
msleep(300);
disable_servo(3);
}
if (y_button_clicked())
{
enable_servo(3);
set_servo_position(3,1300);
msleep(300);
disable_servo(3);
}
if (z_button_clicked())
{
pageno=1;
create_connect();
}
}
while (pageno == 1)
{
set_a_button_text("Create Fwd");
set_b_button_text("Create Bwd");
set_c_button_text("Stop");
set_x_button_text("Turn R");
set_y_button_text("Turn L");
set_z_button_text("M S Page");
if (a_button_clicked())
{
createDriveTime = 0;
printf("Create Moving forward w/ spd 100...\n");
create_drive_straight(100);
createDriveTime = seconds();
while (!c_button_clicked())
{
msleep(1);
}
create_stop();
printf("Time: %f seconds\n",seconds() - createDriveTime );
}
if (b_button_clicked())
{
createDriveTime = 0;
printf("Create Moving backward w/ spd 100...\n");
create_drive_straight(-100);
createDriveTime = seconds();
while (!c_button_clicked())
{
msleep(1);
}
create_stop();
printf("Time: %f seconds\n",seconds() - createDriveTime );
}
if (x_button_clicked())
{
create_drive(-50,0);
while (!c_button_clicked())
{
msleep(1);
}
create_stop();
}
if (y_button_clicked())
{
create_drive(50,0);
while (!c_button_clicked())
{
msleep(1);
}
create_stop();
}
if (z_button_clicked())
{
pageno=0;
create_disconnect();
}
}
}
return 0;
}
int main()
{
set_a_button_text("pipe jumping");
set_b_button_text("center drive");
set_c_button_text("testing");
int strategy;
WAIT(a_button()||b_button()||c_button());
if(a_button())
{
strategy=PIPE_JUMP;
}
else if(b_button())
{
strategy=CENTER_DRIVE;
}
else//c
{
WAIT(side_button());
msleep(1000);
set_servo_position(TRIBBLE_ARM, TA_DOWN);
set_servo_position(TRIBBLE_CLAW, TC_OPEN);
set_servo_position(BLOCK_CLAW, BC_START);
set_servo_position(BASKET_ARM, BA_DOWN);
enable_servos();
msleep(2000);
forward(20, 60);
return 0;
//set_up_drive();//gets the servos and stuff in driving position
//test_driving();
reset_buttons();
set_up_drive();
printf("press black button to begin\n");
WAIT(side_button());
printf("starting in 2 seconds...\n");
msleep(2000);
back_line_follow_time(60, 5000);
return 9001;
}
WAIT(!a_button()&&!b_button());
set_a_button_text("light start");//only gets here if running one of the real code options
set_b_button_text("no ls");
set_c_button_text("-");
boolean l_s=false;//whether or not is doing light start
WAIT(a_button()||b_button());
if(a_button())//if b, does nothing-->l_s already false
l_s=true;
reset_buttons();
if(strategy==PIPE_JUMP)
set_up_jump();
else//drive
set_up_drive();
if(l_s)
{
light_start(LIGHT_SENSOR);
}
else//no light start
{
printf("press black button when ready\n");
WAIT(side_button());
printf("starting in 2 seconds...\n");
msleep(2000);
}
shutdownin(239.5);
start();//timing
if(strategy==PIPE_JUMP)
{
ready_to_jump();
time_drive(-90, -90, 1300);//jump!
servo_set(TRIBBLE_ARM, TA_UP,.3);//move the claw up so it can square up
time_drive(-50, -50, 1500);//get towards the pipe
physical_squareup(false);//square up on the back
time_drive(50, 50, 2500);//go back towards the other wall
physical_squareup(true);//square up on the front
time_drive(-50, -50, 1000);//get back to the center
right(87, 0, 50);//turn towards the edge
time_drive(-60, -60, 1500);//move towards edge
physical_squareup(false);//square up on the outside of the field
tribble_claw_drop();//drop the claw-->plow position
time_drive(68, 60, 1100);//arc into the wall to wall follow to the blocks
//forward(5.25, 60);//move to block position
grab_blocks();//grab the blocks...
forward(20, 60);//plow the tribbles!
servo_set(TRIBBLE_CLAW, TC_CLOSE, .7);//close claw to catch tribbles
servo_set(TRIBBLE_ARM, TA_UP, 1);//put the arm up to get across the center
forward(20, 60);//get across the center
servo_set(TRIBBLE_ARM, TA_START, .5);//push into the ground so the claw doesn't jump
servo_set(TRIBBLE_CLAW, TC_OPEN, .8);//back into plow position
servo_set(TRIBBLE_ARM, TA_DOWN, .1);//back to drive position
msleep(250);
forward(7, 60);//get to dumping location
nowstr("first dump started at");
drive_dump();//dump...
forward(7, 60);//replow the tribbles (maybe get a few extra)
back(2, 60);//get to optimal grab location
tribble_claw_dump();//put the tribbles in the basket
back(5, 60);//back to dump location
tribble_claw_drop();//put the claw back down
drive_dump();//dump again
nowstr("first dump finished at");
//forward(15, 60);//plow the second set of tribbles, get to block location
time_drive(66, 60, 3000);//arc towards the right wall to make sure it follows the right wall
grab_blocks();//grab the blocks...
forward(8, 60);//plow the remaining tribbles
servo_set(TRIBBLE_CLAW, TC_CLOSE, .4);//grab the tribbles
servo_set(TRIBBLE_ARM, TA_DUMP, 1);//raise the arm (to allow it to square up)
time_drive(60, 60, 1500);//get towards the wall
physical_squareup(true);//and square up on it
msleep(200);
back_line_follow(35.8, 60);//back up to the dumping location
servo_set(TRIBBLE_ARM, TA_DOWN, .5);//put the arm down to get it out of the way
nowstr("second dump started at");
drive_dump();//dump
tribble_claw_dump();//put the tribbles in the basket
tribble_claw_drop();//
drive_dump();//dump again
nowstr("second dump finished at");
servo_set(TRIBBLE_CLAW, TC_PART_OPEN, .3);//get the claw up and out of the way
servo_set(TRIBBLE_ARM, TA_UP, .3);
back(6, 60);//back up to get the caught tribbles
servo_set(TRIBBLE_ARM, TA_START, .3);//put the claw back down
servo_set(TRIBBLE_CLAW, TC_OPEN, .5);//
servo_set(TRIBBLE_ARM, TA_DOWN, .1);//
forward(38, 60);//push the tribbles (get any that went way down the field)
back(2, 60);//tribbles near edge of claw
tribble_claw_dump();
servo_set(TRIBBLE_CLAW, TC_CLOSE, .3);//close the claw, just for good measure
back_line_follow(30, 60);//get back to the dumping location
servo_set(TRIBBLE_ARM, TA_DOWN, .5);//get the arm out of the way
nowstr("third dump started at");
drive_dump();
nowstr("third dump finished at");
back_line_follow(17, 60);//get back across the center
right(180, 0, 50);//turn around
tribble_claw_drop();//put the claw down...
forward(25, 60);//and plow!
back(2, 60);//optimal grab location
tribble_claw_dump();//well duh...
servo_set(TRIBBLE_CLAW, TC_CLOSE, .3);//close the claw for good measure
time_drive(60, 60, 1500);//move towards the wall
physical_squareup(true);//and square up on it
back_line_follow(35.8, 60);//back up to the dumping location
servo_set(TRIBBLE_ARM, TA_DOWN, .5);//get the claw out of the way
nowstr("fourth dump started at");
drive_dump();//dump stuff
move_block_arm(BLA_MID);//get the block arm back out of the way
servo_set(BASKET_ARM, BA_UP, 1);//put the basket back up
time_drive(-50, -50, 1500);//one last chance to dump (stay there just cause...you never know)
}
else//drive strategy
{
forward(38, 90);//get towards the center
right(90, 0, 70);//turn towards the middle of the gap
forward(17, 90);//get through the gap and to the black tape
left(85, 0, 70);//turn parallel to the black tape
servo_set(TRIBBLE_ARM, TA_JUMP, .4);//get the claw into plow position
servo_set(TRIBBLE_CLAW, TC_PART_OPEN, .4);//
servo_set(TRIBBLE_ARM, TA_DOWN, .4);//
servo_set(TRIBBLE_CLAW, TC_OPEN, .4);//
}
nowstr("finished at");
return 42;
}
void wait_for_light(int light_port_)
{
int xBut, l_on_, l_off_, l_mid_, t, OK = 0;
float s;
xBut = get_extra_buttons_visible();
set_extra_buttons_visible(0);
set_a_button_text("-");
set_c_button_text("-");
set_analog_pullup(light_port_, 1);
while (!OK) {
set_b_button_text("Light is On");
display_clear();
display_printf (0, 0, "CALIBRATE: sensor port #%d", light_port_);
display_printf(0, 1, " press button when light is on");
while(b_button_clicked() == 0) {
l_on_ = analog10 (light_port_);
display_printf(0,1," light on value is = %d ", l_on_);
msleep(50);
}
l_on_ = analog10(light_port_); /* sensor value when light is on */
set_b_button_text("Light is Off");
display_printf(0,1," light on value is = %d ", l_on_);
msleep(200);
beep();
display_printf(0,2," press button when light off");
while(b_button_clicked() == 0) {
l_off_ = analog10(light_port_);
display_printf(0,3," light off value is = %d ", l_off_);
msleep(50);
}
l_off_ = analog10(light_port_); /* sensor value when light is off */
display_printf(0,3," light off value is = %d ", l_off_);
msleep(200);
if((l_off_ - l_on_) >= 60) { /* bright = small values */
OK = 1;
l_mid_ = (l_on_ + l_off_) / 2;
display_printf(0, 5, "Good Calibration!");
display_printf(0, 7, "Diff = %d: WAITING", l_off_ - l_on_);
while(analog10(light_port_) > l_mid_);
} else {
s = seconds();
display_printf(0,7,"BAD CALIBRATION");
if(l_off_ < 512){
display_printf(0,8," Add Shielding!!");
msleep(5000);
} else {
display_printf(0,8," Aim sensor!!");
msleep(5000);
}
}
}
set_extra_buttons_visible(xBut);
set_a_button_text("A");
set_b_button_text("B");
set_c_button_text("C");
}
