int main()
{
printf("Line Follow."); // announce the program
sleep(1.0); // wait 1 second
create_connect(); // Open the connection between CBC and Create
int ana0 = 0, ana1 = 0; // variables to store the results of the analog sensors
create_full(); // We don't care about safety
while(get_create_lbump(0) == 0 && get_create_rbump(0) == 0){ //while the bumper is not pressed
ana0 = analog10(0); // left sensor
ana1 = analog10(1); // right sensor
printf("analog 0: %d\n", ana0);// print results
printf("analog 1: %d\n", ana1);
if((ana0 < 200) && (ana1 > 200)) // if the left sensor is off and right is on black line
{
create_spin_CW(128); // spin the create Clock Wise
}else if((ana1 < 200) && (ana0 > 200)) // else if reversed
{
create_spin_CCW(128); // spin Counter Clock Wise
}else if((ana0 < 200) && (ana1 < 200)) // else neither is on the line
{
create_drive_straight(180); // drive straight
}
}
create_stop(); // Stop the Create
create_disconnect(); // Disconnect the Create
}
/* This program will move Robot A accordig to its assignment. */
int main()
{
printf("Hello, World!\n");
create_connect();
int rport=1; // identify ports used, might need to change
int threshold=500; // light threshold in the room
int high=100, low=-10; //motor power for arc. Will need to change to perfect drive.
while (b_button()==0) {} // start after pushing B
/* To be replaced with wait_for_light(port#); so that light starts the robot. Right now it is started with B*/
while (a_button()==0){ // stop after pushing A
/* to be relplaced with a button sensor. Such as digital(Port #); so that the claw grabs the transport when the sensor(s) are pushed.*/
while (analog10(rport) > threshold) { // continue until not dark
create_drive_direct(-10,100); // arc left
if (a_button()!=0) break; } // or button pressed
// to be replaced with a sensor
while (analog10(rport) <= threshold){ // continue until dark
create_drive_direct(100,-10); // arc right
if (a_button()!=0) break; } // or button pressed
// to be replaced with a sensor
create_stop();
//all stop because button was pushed.
}
create_disconnect();
return 0;
}
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;
}
// if serial communication times out (ie., is lost), attempts to restart it
void create_reconnect()
{
printf("Create communication lost;\nattempting reconnection.\n");
create_disconnect(); // reset environment
create_connect();
}
int main()
{
wait_for_light(4);
printf("Hello, World!\n");
create_connect();
create_drive_direct(200 , 200);
msleep(2000);
create_spin_CCW ( 100 );
msleep(2000);
create_stop();
create_drive_direct(200 , 200 );
msleep(4000);
create_stop();
create_drive_direct (200 , 200);
msleep(5000);
create_stop();
create_spin_CCW ( 100 );
msleep(2000);
create_drive_direct (200 , 200);
msleep(3000);
create_spin_CCW ( 100 );
msleep(2000);
create_cover();
create_stop();
create_disconnect();
return 0;
}
int main()
{
create_connect();
drive_distance(20, 35, FORWARDS);
spin_degrees(90, 50, LEFT);
drive_distance(14, 35, FORWARDS);
create_disconnect();
}
/*
* Class: cbccore_low_Create
* Method: create_disconnect
* Signature: ()V
*/
JNIEXPORT void JNICALL Java_cbccore_low_Create_create_1disconnect(JNIEnv *env, jobject obj)
{
#ifdef CBC
create_disconnect();
#else
printf("Java_cbccore_low_Create_create_1disconnect stub\n");
#endif
}
int main()
{
get_mode();
create_connect();
drop_three_hangers();
pick_up_first_doubler();
create_disconnect();
return 0;
}
int main()
{
create_connect();
create_drive_direct(-500 , -500);
msleep(2000);
create_drive_direct(300 , -300);
msleep(500);
create_disconnect();
}
int main()
{
create_connect();
while (side_button() == 0)
{
line_follow();
msleep(10);
}
create_disconnect();
return 0;
}
int main()
{
create_connect();
create_drive_direct(100,100);
wait_for_milliseconds(2000);
create_drive_direct(-200, 200);
wait_for_milliseconds(5000);
create_stop();
create_disconnect();
return 0;
}
int main()
{
printf("Tryying to connect to the Create\nBattery: %d...\n", get_create_battery_capacity());
create_connect();
printf("Connected...");
while (get_create_lbump() == 0 && get_create_rbump() == 0)
{
create_drive_direct(150,150);
}
create_disconnect();
printf("All done");
return 0;
}
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);
}
int main()
{
create_connect();
create_full();
float sec = seconds();
set_create_distance(0);
create_drive_distance(50, get_pot_reading(1, 1, 50), FORWARDS);
printf("distance traveled = %i, time = %f\n", get_create_distance(), seconds() - sec);
//sleep(2);
//create_spin_degrees(90, 300, LEFT);
//printf("%d\n", i);
create_disconnect();
return 0;
}
int main()
{
create_connect();
while(1)
{
create_drive_direct(200, 300);
if(get_create_rbump(0.01) ==1)
{
create_drive_direct(300, 200);
msleep(800);
}
}
create_stop();
create_disconnect();
}
int main()
{
create_connect();
create_drive_straight(500);
sleep(2);
create_drive_direct(500, -500);
msleep(440);
create_drive_straight(500);
msleep(4200);
create_drive_direct(-500, 500);
msleep(375);
create_drive_straight(500);
msleep(1500);
create_stop();
create_disconnect();
}
int main()
{
printf("Hello Create\n");
printf("press R button to start\n");
while(digital(13) ==0) {
msleep(20);
}
printf("Connecting\n");
create_connect(); // this engages the create
while(get_create_lbump()==0 && get_create_rbump()==0) {
create_drive_direct(100,-100);
}
create_stop();
create_disconnect();
msleep(500);
return 0;
}
int main()
{
create_connect();
enable_servo(ccport);
create_full();
start_morse();
morse("Botball", 1);
/* motor(1,100);
motor(0,-100);
motor(1,0);
msleep(5000);
motor(3,100);
wait_for_morse();
motor(0,0);
motor(3,0);
*/
create_disconnect();
}
int main(int argc, char ** argv)
{
int i;
printf("Connecting...\n");
create_connect();
create_start();
printf("Spinning CW...n");
create_spin_CW(40);
// spin a while CW
for (i = 0; i < 10; ++i)
{
printf("Distance: %d Angle: %d\n", get_create_distance(), get_create_total_angle());
msleep(1000);
}
printf("Spinning CCW...n");
create_spin_CCW(40);
// spin a while CCW
for (i = 0; i < 10; ++i)
{
printf("Distance: %d Angle: %d\n", get_create_distance(), get_create_total_angle());
msleep(1000);
}
printf("Stopping...\n");
create_stop();
printf("Disconnecting...\n");
create_disconnect();
printf("Done.\n");
return 0;
}
void _shut_down_task()
{
int i,j;
msleep(_shut_down_delay);
create_stop();
ao();
//disable_servos(); // delete this line if you want your servos to freeze but remain powered at the end
Bb_Game_Over= 1;
printf("Game over");
i= 0;
for (j= 256; j <= 1024; j+=256) {
// hog_processor();
while (i < j) {
kill_process(_shut_down_pid+(++i));
kill_process(_shut_down_pid-i);
create_disconnect();
}
ao();
disable_servos(); // delete this line if you want your servos to freeze but remain powered at the end
}
printf(".\n");
}
int main()
{
get_mode();
create_connect();
create_full();
set_servo_position(BAR_SERVO, BAR_CLOSED_POSITION);
set_servo_position(CLAW_SERVO, CLAW_OPEN_POSITION);
set_servo_position(GYRO_SERVO, GYRO_SETTING_POSITION);
enable_servos();
msleep(3000);
// operate_winch(WINCH_START_POSITION);
// set_servo_position(GYRO_SERVO, GYRO_START_POSITION);
// press_a_to_continue();
// set_servo_position(GYRO_SERVO, GYRO_SETTING_POSITION);
// msleep(2000);
drop_three_hangers();
//pick_up_first_doubler();
pick_up_cube();
create_disconnect();
return 0;
}
int main()
{
printf("beginning camera calibration pgm\n");
create_connect();
enable_servos();
camera_open(LOW_RES);
printf("1.0 after initialization\n");
//place create for camera recognition of cube positions
forward(9);
rightAngle(LEFT);
forward(15);
rightAngle(RIGHT);
calibrateCamera();
printf("the end...\n");
camera_close();
create_disconnect();
return 0;
}
// if serial communication times out (ie., is lost), attempts to restart it
void create_reconnect()
{
create_disconnect(); // reset environment
create_connect();
}
void main ()
{
int loop_done = 0;
int task_A_done = 0;
int task_B_done = 0;
int angle0 = 0;
//get_create_total_ angle (.1);
//create_drive_direct (left speed, right speed)\
//move_to_position (motor #, motor power(-for backwards), end position)
//get_motor_done (motor#)
//clear_motor_position_counter (motor#)
//msleep (seconds)
//i'll probably use this often
create_connect ();
clear_motor_position_counter (0);
angle0 = get_create_total_angle (.1);
create_drive_direct (150,-150);
move_to_position (0, -900, -1550);
while(! loop_done)
{
printf("a0: %d, a: %d, d: %d\n", angle0, get_create_total_angle (.1), task_A_done);
if (angle0 - get_create_total_angle (.1) < 90)
{
create_drive_direct (150,-150);
}
else
{
task_A_done = 1;
}
if (get_motor_done (0))
{
}
else
{
task_B_done = 1;
}
if (task_A_done && task_B_done)
{
loop_done = 1;
}
msleep(0.1);
}
create_stop ();
create_disconnect ();
//put specific commands to control robot in here
// loop_done = 0;
// task_A_done = 0;
// task_B_done = 0;
// while(! loop_done)
// {
// if (/*task A is not done*/)
// {
// //continue doing task A
// }
// else
// {
// task_A_done = 1;
// }
// if (/*task B is not done*/)
// {
// //continue doing task B
// }
// else
// {
// task_B_done = 1;
// }
// if (task_A_done && task_B_done)
// {
// loop_done = 1;
// }
// }
}
void main (int argc, char ** argv)
{
int loop_done = 0;
int task_A_done = 0;
int task_B_done = 0;
int angle = 0;
int dangle = 0;
int angle0 = 0;
int distance0 = 0;
int distance = 0 ;
int ddistance = 0;
// float lf_args[20];
// read inputs
// printf("Args: %d\n", argc);
// for (i = 2; i < argc; i++)
// {
// scanf("%lf%, argv[i]
// }
//get_create_total_ angle (.1);
//create_drive_direct (left speed, right speed)\
//move_to_position (motor #, motor power(-for backwards), end position)
//get_motor_done (motor#)
//clear_motor_position_counter (motor#)
//msleep (seconds)
//i'll probably use this often
//to start by light, do:
//while(analog(1) > 200)
if (0)
{
//we have seen the light
msleep(100);
if(analog(1) < 800){
shut_down_in(119);
}
}
create_connect ();
clear_motor_position_counter (0);
enable_servo (0);
set_servo_position (0 ,1300);
//set_servo_position (1800);
// ------------------------------------------------------------------------
//step:1 aim the arm to knock over the box
//raise arm
printf("-----Step 1-----\n");
move_motor (0, -900, -1200);
// swing arm to hit the box, then get back to position
spin (50, -50, 20);
spin (-50, 50, 20);
create_stop ();
// ------------------------------------------------------------------------
//step:2 knock over box and turn
//lift arm
//turn 90
printf("-----Step 2-----\n");
move_to_position (0, -900, -2600);
msleep (900);
//turn create in a circular position and raise arm so it doesn't hit anything
angle0 = get_create_total_angle (.05);
angle = angle0;
dangle = abs (angle0 - angle);
printf("a0: %d, a: %d, da: %d, d: %d\n", angle0, get_create_total_angle (.05), dangle , task_A_done);
create_drive_direct (-178,-648);
while(! loop_done)
{
if (dangle >= 155)
{
task_A_done = 1;
create_stop ();
}
else if (dangle >= 125)
{
create_drive_direct (-120, -181);
}
if (get_motor_done (0))
{
task_B_done = 1;
}
if (task_A_done && task_B_done)
{
loop_done = 1;
}
msleep(100);
angle = get_create_total_angle (.05);
dangle = abs (angle0 - angle);
printf("a0: %d, a: %d, da: %d, d: %d\n", angle0, get_create_total_angle (.05), dangle , task_A_done);
}
create_stop ();
// ------------------------------------------------------------------------
//step:4 aim claw to point of botguy
//turn 20
//lower arm
printf("-----Step 4-----\n");
//--tweaking position so it gets in just the right position
move_to_position (0, 400, -900);
move (20, 20, 50);
set_servo_position (0 ,400);
create_drive_straight (-30);
move_motor (0, 600, -300);
create_drive_straight (-38);// at this point, botguy is in his palm
//can't remember function to program
msleep (3000);
loop_done = 0;
if (! loop_done)
{
create_stop ();
if (! digital (10))
{
move_motor (0, 400, -900);
spin (20, -20, 5);
move_motor (0, 600, -300);
create_stop ();
loop_done = 1;
}
else
{
loop_done = 1;
}
}
// ------------------------------------------------------------------------
//step:5 grab botguy and lift him up (not complete)
printf("-----Step 5-----\n");
move (-10, -10, 10);
msleep (1300);
//spin (60, -60, 5);
//close arm and grab botguy
set_servo_position (0, 1510);
msleep (400);
move_to_position (0, -1000, -3000);
//wait for him to finish
msleep (5000);
// ------------------------------------------------------------------------
//step:6 move backwards till it's in position
printf("-----Step 6-----\n");
//back up in an arc
move (130, 280, 780);
//move towards the center and lower drop height
move_to_position (0, -900, -500);
create_drive_straight (-20);
msleep (3000);
//drop botguy in transport
set_servo_position (0, 200);
create_stop ();
//start moving towards the pipe
move_motor (0, 500, -1200);
spin (50, -50, 70);
move (50, 50, 100);
spin (-50, 50, 70);
/*
if (! loop_done)
{
if (get_object_count(2) == 1)
{
create_stop ();
spin(-10, 10, 5);
create_stop ();
move(20, 20, 20);
create_stop ();
set_servo_position (0, 1400);
loop_done = 1;
}
}
loop_done = 0;
spin (10, 10, 5);
set_servo_position (0, 200);
*/
/*
spin (50, -50, 85);
move_motor (0, 400, -400);
move (-100, -100, 50);
loop_done = 0;
//close arm on pipe
set_servo_position (0, 1510);
//turn arm to face the pole
spin (-50, 50, 50);
//up, forward, then drop pipe
move_motor (0, 400, -2300);
move (-100, -100, 100);
set_servo_position (0, 200);
ao ();
*/
create_disconnect ();
}
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()
{
printf("checklist");
printf("hit black button when ready");
while(black_button());
printf("MAKE SURE CREATE IS ON!!!!!!!!");
while(!black_button());
printf("MAKE SURE ARM IS IN DOWN POSITION!!!!!!!!");
while(!black_button());
printf("MAKE SURE ARM AND CLAW WORK");
while(!black_button());
printf("CHECK POSITION OF CLAW AND ARM");
while(!black_button());
printf("MAKE SURE LIGHT SENSORT IS CALIBRATED");
while(!black_button());
// this starts the robot SECTion 1
wait_for_light(0);
shut_down_in(120.0);
//this shuts the robot down after 120.0 seconds
while(create_connect());
//connects create to cbc
set_servo_position(3, 0);
set_servo_position(0, 1800);
enable_servos();
msleep(500);
create_full();
//section 2
create_drive_direct(SUPER_FAST, SUPER_FAST);
msleep(1646);
//leave beach
create_stop();
msleep(300);
create_drive_direct(SUPER_FAST, -SUPER_FAST);
msleep(435);
//turn towards center
create_stop();
msleep(300);
create_drive_direct(SUPER_FAST, SUPER_FAST);
msleep(1600);
//move towards botguy
create_stop();
msleep(500);
//section 3
set_servo_position(0, 1424);
msleep(1800);
set_servo_position(0, 1100);
msleep(1800);
set_servo_position(0, 924);
msleep(1800);
set_servo_position(0, 724);
msleep(1800);
set_servo_position(3, 1024);
msleep(1800);
set_servo_position(0, 924);
msleep(1800);
set_servo_position(0, 1100);
msleep(1800);
set_servo_position(0, 1200);
msleep(2000);
//retrieve botguy
//section 4
create_drive_direct(-FAST, FAST);
msleep(445);
create_stop();
create_drive_direct(-FAST, -FAST);
msleep(2000);
create_stop();
create_drive_direct(FAST, -FAST);
msleep(445);
create_stop();
create_drive_direct(-FAST, -FAST);
msleep(900);
create_stop();
msleep(1600);
create_stop();
set_servo_position(3, 0);
set_servo_position(0, 1800);
msleep(1200);
set_servo_position(0, 1200);
msleep(1000);
set_servo_position(0, 1800);
msleep(1000);
create_drive_direct(1000, 1000);
msleep(800);
create_drive_direct(-1000, -1000);
msleep(800);
DRIVE(SUPER_FAST);
MSLEEP(800);
TURN(-SUPER_FAST, SUPER_FAST);
MSLEEP(460);
DRIVE(SUPER_FAST);
MSLEEP(1380);
TURN(SUPER_FAST, -SUPER_FAST);
MSLEEP(425);
DRIVE(SUPER_FAST);
SLEEP(1.5);
while(get_create_lbump(0.01) == 0)
{
DRIVE(SUPER_FAST);
}
TURN(-SUPER_FAST, SUPER_FAST);
MSLEEP(435);
TURN(SUPER_FAST, 975);
MSLEEP(500);
while(get_create_rbump(0.01) == 0)
{
TURN(SUPER_FAST, 990);
}
create_stop();
create_disconnect();
}
void main (int argc, char ** argv)
{
int loop_done = 0;
int task_A_done = 0;
int task_B_done = 0;
int angle = 0;
int dangle = 0;
int angle0 = 0;
int distance0 = 0;
int distance = 0 ;
int ddistance = 0;
// float lf_args[20];
// read inputs
// printf("Args: %d\n", argc);
// for (i = 2; i < argc; i++)
// {
// scanf("%lf%, argv[i]
// }
//get_create_total_ angle (.1);
//create_drive_direct (left speed, right speed)\
//move_to_position (motor #, motor power(-for backwards), end position)
//get_motor_done (motor#)
//clear_motor_position_counter (motor#)
//msleep (seconds)
//i'll probably use this often
create_connect ();
clear_motor_position_counter (0);
enable_servo (0);
set_servo_position (0 ,1300);
//set_servo_position (1800);
// ------------------------------------------------------------------------
//step:1 aim the arm to knock over the box
//raise arm
printf("-----Step 1-----\n");
move_to_position (0, -900, -1200);
while(! loop_done)
{
if (get_motor_done (0))
{
loop_done = 1;
}
msleep(100);
}
create_stop ();
loop_done = 0;
angle0 = get_create_total_angle (.05);
create_drive_direct (50,-50);
while(! loop_done)
{
printf("a0: %d, a: %d, d: %d\n", angle0, get_create_total_angle (.05), task_A_done);
if (angle0 - get_create_total_angle (.05) >= 20)
{
loop_done = 1;
create_stop ();
}
msleep(100);
}
loop_done = 0;
create_stop ();
task_A_done = 0;
task_B_done = 0;
angle0 = get_create_total_angle (.05);
create_drive_direct (-50,50);
while(! loop_done)
{
printf("a0: %d, a: %d, d: %d\n", angle0, get_create_total_angle (.05), task_A_done);
if (angle0 - get_create_total_angle (.05) <= -20)
{
loop_done = 1;
create_stop ();
}
msleep(100);
}
loop_done = 0;
create_stop ();
task_A_done = 0;
task_B_done = 0;
// ------------------------------------------------------------------------
//step:2 knock over box and turn
//lift arm
//turn 90
printf("-----Step 2-----\n");
move_to_position (0, -900, -3100);
msleep (900);
angle0 = get_create_total_angle (.05);
angle = angle0;
dangle = abs (angle0 - angle);
printf("a0: %d, a: %d, da: %d, d: %d\n", angle0, get_create_total_angle (.05), dangle , task_A_done);
create_drive_direct (-178,-648);
while(! loop_done)
{
if (dangle >= 125)
{
create_drive_direct (-120, -181);
}
if (dangle >= 155)
{
task_A_done = 1;
create_stop ();
}
if (get_motor_done (0))
{
task_B_done = 1;
}
if (task_A_done && task_B_done)
{
loop_done = 1;
}
msleep(100);
angle = get_create_total_angle (.05);
dangle = abs (angle0 - angle);
printf("a0: %d, a: %d, da: %d, d: %d\n", angle0, get_create_total_angle (.05), dangle , task_A_done);
}
loop_done = 0;
create_stop ();
task_A_done = 0;
task_B_done = 0;
// ------------------------------------------------------------------------
//step:4 aim claw to point of botguy
//turn 20
//lower arm
printf("-----Step 4-----\n");
angle0 = 0;
angle0 = get_create_total_angle (.05);
create_drive_direct (70, -70);
printf("a0: %d, a: %d\n", angle0, get_create_total_angle(0.05));
//while(angle0 - get_create_total_angle (.05) < 4)
if (0)
{
printf("a0: %d, a: %d\n", angle0, get_create_total_angle(0.05));
msleep(50);
}
move_to_position (0, 400, -900);
distance0 = get_create_distance (.05);
create_drive_direct (20, 20);
while (! loop_done)
{
if (get_create_distance (.05) - distance0 > 50)
{
loop_done = 1;
create_stop ();
}
}
set_servo_position (0 ,400);
loop_done = 0;
task_A_done = 0;
task_B_done = 0;
create_drive_straight (-20);
move_to_position (0, 600, -300);
while (! get_motor_done (0))
{
msleep (50);
}
create_drive_straight (-50);
msleep (2000);
//while (! loop_done)
if (0)
{
if (digital (10))
{
create_stop ();
loop_done = 1;
}
if (get_create_distance (.05) - distance0 < -100)
{
create_stop ();
loop_done = 1;
}
}
loop_done = 0;
// ------------------------------------------------------------------------
//step:5 grab botguy and lift him up (not complete)
printf("-----Step 5-----\n");
create_drive_direct (60, -60);
while(angle0 - get_create_total_angle (.05) < 3)
{
msleep(50);
}
create_stop ();
set_servo_position (0, 1510);
move_to_position (0, -1000, -3000);
msleep (5000);
// ------------------------------------------------------------------------
//step:6 move backwards untill the bumper hits the transport (not completed)
printf("-----Step 6-----\n");
create_drive_direct (130, 280);
distance0 = get_create_distance (.05);
while (! loop_done)
{
printf("d0: %d, d: %d, d: %d\n", distance0, get_create_distance (.05), loop_done);
if (get_create_distance (.05) - distance0 > 700)
{
loop_done = 1;
}
msleep(50);
}
loop_done = 0;
move_to_position (0, -900, -500);
create_drive_straight (-100);
msleep (1000);
set_servo_position (0, 200);
create_disconnect ();
printf("-----Step 6-B-----\n");
create_drive_direct (-400, -150);
distance0 = get_create_distance (.05);
while(! loop_done)
{
printf("d0: %d, d: %d, d: %d\n", distance0, get_create_distance (.05), loop_done);
if (get_create_distance (.05) - distance0 < -100)
{
loop_done = 1;
create_stop ();
}
msleep(50);
}
loop_done = 0;
// ------------------------------------------------------------------------
//step:7 drop botguy.
printf("-----Step 7-----\n");
move_to_position (0, -900, -300);
msleep (6000);
set_servo_position (0, 200);
create_disconnect ();
}
