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Parking.c
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Parking.c
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#pragma config(Sensor, S1, colorSensorA, sensorColorNxtFULL)
#pragma config(Sensor, S2, colorSensorB, sensorNone)
#pragma config(Sensor, S3, sonarSensor, sensorSONAR)
#pragma config(Motor, motorA, motorL, tmotorNXT, PIDControl, encoder)
#pragma config(Motor, motorB, motorR, tmotorNXT, PIDControl, encoder)
//*!!Code automatically generated by 'ROBOTC' configuration wizard !!*//
// void leftparking()// did all this assuming motorA is left, motorB is right, colorSensorA is left, colorSensorB is right
task sonarFunction()
{
while(true)
{
moveMotorTarget(motorC, 90, 50);
waitUntilMotorStop(motorC);
moveMotorTarget(motorC, -90, -50);
waitUntilMotorStop(motorC);
motor[motorC] = 0;
}
}
task leftparking()
{
if (SensorValue(sonarSensor) <= 75)
{
motor[motorL] = 75; // lego group x*y x=diamter, y=width
motor[motorR] = 75;
}
else
{
motor[motorL] = 0;
motor[motorR] = 90;
wait1Msec(100);
moveMotorTarget(motorL, 2122, 75);
moveMotorTarget(motorR, 2122, 75);
waitUntilMotorStop(motorR);
motor[motorL] = 0;
motor[motorR] = 0;
}
}
task rightparking()
{
if(SensorValue[sonarSensor] <= 75)
{
motor[motorL] = 75; // lego group x*y x=diamter, y=width
motor[motorR] = 75;
}
else
{
motor[motorL] = 90;
motor[motorR] = 0;
wait1Msec(100);
moveMotorTarget(motorL, 2122, 75);
moveMotorTarget(motorR, 2122, 75);
waitUntilMotorStop(motorR);
motor[motorL] = 0;
motor[motorR] = 0;
}
}
task main()
{
startTask (sonarFunction);
if (SensorValue[colorSensorA] > 60 && SensorValue[colorSensorA] < 65) // Don't know what color blue is. 60 I think?
{
motor[motorL] = 0;
motor[motorR] = 0;
startTask (leftparking);
}
else if (SensorValue[colorSensorB] > 55 && SensorValue[colorSensorB] <65)
{
motor[motorL] = 0;
motor[motorR] = 0;
startTask (rightparking);
}
else
{
motor[motorL] = 75; // I don't know normal speed of robot
motor[motorR] = 75;
}
}