int main()
{
set_each_analog_state(0,0,0,1,0,0,0,0);
WhichSide();
SetArm();
Start();
Cubes();
}
int main() {
set_each_analog_state(0,1,0,0,0,0,0,0);
create_connect();
enable_servos();
armPosSB();
clawSB();
//seedReturn();
seed();
}
int main()
{
set_each_analog_state(0,0,0,0,0,0,0,0);// This line sets analog ports to be pullup (0) or floating (1)
//variable declarations go here.
// uncomment the line below to have the rest of the program wait for the starting light to turn on
//wait_for_light(port_number);//replace "port_number" with the analog port number into which the light sensor is connected
// uncomment the line below to have a function run for a specified amount of seconds
//run_for(num_secs, function_name);//replace num_secs with the amount of time to run and function_name with your function's name
}
void main()
{
create_connect();
enable_servos();
set_each_analog_state(1,1,0,0,0,0,0,0);
initialize();
armPosBlockStack2();
clawStack2();
clawOpen();
create_drive_straight(300);
run_for(3, clawGrab);
create_stop();
clawGrab();
}
int main()
{
int port_1 = 6;
int port_2 = 2;
set_each_analog_state(1,1,1,1,1,1,0,0);
while(!black_button())
{
//cbc_display_clear();
//printf(" see_bar(%d): %d\n",14,see_bar(14));
//printf(" see_bar(%d): %d\n",15,see_bar(15));
//printf("bar sensor (%d): %d\n",port_1, bar_sensor(14, 15));
//printf("analog to inches (%d): %f\n",port_1,analog(port_1));
printf("analog to inches (%d): %f\n",port_2, analog_to_inches_avg(port_2,10));
sleep(.3);
}
}
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();
}
int main()
{
enable_servos();
create_connect();
set_each_analog_state(1,0,0,0,0,0,0,0);
/*
while(up_button()==0)
{
while(black_button() ==0) {}
clawSB();
armPosSB();
while(black_button() ==0) {}
clawGrab();
clawOpen();
armPosBlockGrab();
while(black_button() ==0) {}
clawClose();
while(black_button() ==0) {}
armPosBlockStack1();
clawStack1();
while(black_button() ==0) {}
clawOpen();
while(black_button() ==0) {}
clawGrab();
armPosBlockGrab();
while(black_button() ==0) {}
clawClose();
while(black_button() ==0) {}
/*set_servo_position(SERVO_ARM_LEFT_PORT, SERVO_ARM_LEFT_STACK2);
set_servo_position(SERVO_ARM_RIGHT_PORT, SERVO_ARM_RIGHT_STACK2);
set_servo_position(SERVO_CLAW_LEFT_PORT, SERVO_CLAW_LEFT_STACK2);
set_servo_position(SERVO_CLAW_RIGHT_PORT, SERVO_CLAW_RIGHT_STACK2);
sleep(2);
armPosBlockStack2();
clawStack2();
while(black_button() ==0) {}
clawOpen();
}*/
//reach first blocks
armPosBlockStack1();
clawStack1();
clawOpen();
detectBlock();
//back up
backFromTouch(0);
//arm to correct pos
armPosBlockGrab();
clawGrab();
//scoot up and grab
scootUp(0);
clawClose();
while(black_button() == 0) {}
driveAtMmFor(200, 2);
//drive with arm a bit up, place first pair of cubes
armPosBlockStack1();
clawStack1();
detectPVC();
set_servo_position(SERVO_ARM_LEFT_PORT, SERVO_ARM_LEFT_GRAB+300);
set_servo_position(SERVO_ARM_RIGHT_PORT, SERVO_ARM_RIGHT_GRAB-300);
set_servo_position(SERVO_CLAW_LEFT_PORT, SERVO_CLAW_LEFT_GRAB+100);
set_servo_position(SERVO_CLAW_RIGHT_PORT, SERVO_CLAW_RIGHT_GRAB-100);
backFromTouch(1);
//correct pos
armPosBlockGrab();
clawGrab();
//scoot up
scootUp(1);
clawOpen();
driveAtMmFor(200, 2);
while(black_button() == 0) {}
clawClose();
//drive with arm a bit up, place second pair on top of first
armPosBlockStack1();
clawStack1();
set_servo_position(SERVO_ARM_LEFT_PORT, SERVO_ARM_LEFT_STACK1+300);
set_servo_position(SERVO_ARM_RIGHT_PORT, SERVO_ARM_RIGHT_STACK1-300);
set_servo_position(SERVO_CLAW_LEFT_PORT, SERVO_CLAW_LEFT_STACK1+200);
set_servo_position(SERVO_CLAW_RIGHT_PORT, SERVO_CLAW_RIGHT_STACK1-200);
detectBlock();
backFromTouch(2);
//correct pos
clawStack1();
armPosBlockStack1();
clawOpen();
driveAtMmFor(200, 2);
armPosBlockGrab();
clawGrab();
while(black_button() == 0) {}
clawClose();
armPosBlockStack2();
clawStack2();
detectPVC();
backFromTouch(3);
clawOpen();
driveAtMmFor(200, 2);
}