int init()// move the grabber motors to the start position.
{
motor(1,-100); // move motor 1 at -100%
motor(3,-100); // move motor 3 at -100%
msleep(500); // stop moving the motors after .5 seconds
set_create_distance(0); // initializes the distance accumulation to start at 0
set_create_total_angle (0); // initializes the angle accumulation to start at 0
ao(); // stop all motors
return 0;
}
/*goes forward for distance*/
void forward_for(int distance, int speed) {
set_create_distance(0);
while (get_create_distance() < distance ) {
create_drive_direct(speed,speed);
printf("value is %d", get_create_distance());
msleep(100);
}
create_drive_direct(0,0);
}
int main()
{
create_connect();
enable_servos();
set_create_total_angle(0);
set_create_distance(0);
WhichSide();
CenterCamera();
Lift();
}
void testDrive(){
float time1, time2;
set_create_distance(0);
printf("//Press Black Button to start/stop drive\n");
while(!black_button()); time1 = seconds();
create_drive_straight(-50);
printf("drive(50);\t");
sleep(2.0);
while(!black_button()); time2 = seconds();
stop();
printf("sleep(%f);\t//move %dmm",time2-time1,get_create_distance(0));
done = 1;
}
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;
}
void main(){
int X = 0;
create_connect();
set_create_distance(0);
set_create_total_angle(0);
enable_servos();
armPosBlockStack1();
clawStack1();
/* create_drive(-500,-380);
sleep(2.3);
create_stop();
}
*/
// writeToFile();
printf("%f",seconds());
while(1) //black_button
{
if (a_button()){
testDrive();
}
if (b_button()){
testDetectPVC();
}
if (up_button()){
}
if (down_button()){
testTurnAdjust();
}
if (left_button()){
testTurnCCW();
}
if (right_button()){
testTurnCW();
}
}
}
int main()
{
set_each_analog_state(0,0,0,1,0,0,0,0);// This line sets analog ports to be pullup (0) or floating (1)
create_connect();
enable_servos();
set_create_total_angle(0);
set_create_distance(0);
//AUO=start_process(ArmUpOpen);
ArmUp();
set_servo_position(
sleep(3);
CenterCamera();
create_drive_straight(-200);
while(digital(8) != 1)
{}
create_stop();
sleep(1);
ArmDownClose();
sleep(3);
beep();
create_drive_straight(200);
sleep(2);
create_stop();
}
//main stuff haha
int main()
{
int claw = 1; //claw port
int arm = 0; //arm port
create_connect();
printf("create connected");
set_create_total_angle(0);
//create setup
turn_for(10, -200); //Turns the create around
//does some important stuff
create_drive_direct(-100, -100);
set_servo_position(claw, 1561);
enable_servos();
msleep(300);
set_servo_position(arm, 1850); //arm down
msleep(500);
set_servo_position(claw, 1000);
msleep(500);
set_servo_position(arm, 1643); //grabs ball
msleep(500);
turn_for(36, 200); //spins onto first black path to line follow later
msleep(500);
forward_for(50, -100); //moves forward onto the black line
line_follow(blackThresh , 212); //starts following the black line
set_servo_position(claw, 1561); //drops ball
//dropped ball already
msleep(400);
forward_for(500, 100); //back it up back it up
set_servo_position(arm, 245); //holds the arm up
msleep(100);
set_create_distance(0);
set_create_total_angle(0);
while (get_create_total_angle() > -10) { //spins itself onto the angle of other black line
create_spin_CW(200);
}
create_spin_CW(0); //stops spinning
msleep(1500);
create_drive_direct(-200, -200); //goes onto the black line to line follow later
msleep(1000);
create_drive_direct(0,0); //stops itself
msleep(500);
set_create_total_angle(0);
while (get_create_total_angle() > -3) { //angles itself a little bit
create_spin_CW(200);
}
create_spin_CW(0); //stops spinning
msleep(400);
create_drive_direct(-200, -200); //Drives forward a little bit to the next black line
msleep(1500);
create_drive_direct(0,0);
set_create_total_angle(0);
while (get_create_total_angle() > -7) { //Angles itself so it can drive in the middle
create_spin_CW(200);
}
create_spin_CW(0); //stops spinning
create_drive_direct(-230,-230); //Drives itself into the middle lane
msleep(4000);
create_drive_direct(0,0); //Reset stuff
set_create_total_angle(0);
while(analog(0) < blackThresh) { //Align itself using line following in the middle lane
create_spin_CW(50);
printf("Value is %d \n", analog(0));
if(digital(0) >= blackThresh) {
printf("I have found the middle black line!");
create_spin_CW(1); //Angle itself so it is exactly on the black line
}
}
create_spin_CW(0); //resets something for some reason why is this here?
set_servo_position(claw, 1561); //grabs the red cube
msleep(200);
set_servo_position(arm, 1984);
msleep(500);
set_servo_position(claw, 1144);
msleep(500);
return 0;
}
int resetd()
{
set_create_distance(0);
}
