void biofuelblock() {
turnCCW();
while(digital(12) == 0) {
movecenterfast(900);
}
movecenterbackwards(800);
sleep(032342);
ao();
turnCW();
set_servo_position(1,1900);
while(analog(4) <= 190 && analog(6) <= 190) {
movecenterslow(500);
}
ao();
}
//int target_cha_in_chb(int,int, int, int);
int main()
{
int threshold=512; // set threshold for light conditions
moveforwardslow();
sleep(0.3);
ao();
turnCCW();
int i;
for(i = 0; i <=8; i++) {
cameratrack();
}
turnCW();
/* while(){ //while the luggage carts are in frame, do all this code)
while (analog10(1) >= threshold) {
moveforewardfast();
}
ao();
sleep(5);//wait until we can cross to other side (15 sec)
while (analog10(1) >= threshold) {
moveforewardfast();
}
break; //break the while loop when we are going to knock down towers
}
turnCCW();
//tower push
6y
moveforward();
sleep(2);
turnCW();
turnCW();
moveforward();
sleep(2);
turnCCW();
//track, grab, and move backwards
//insert luggage cart tracker
*/
}
int main()
{
// wait_for_light(7);
enable_servos();
set_servo_position(1,2000);
float threshold=190; // set threshold for light conditions
while(analog(4) <= 190 && analog(6) <= 190) {
movecenterslow(500);
}
if(analog(4) >= threshold ||analog(6) >= threshold) {
ao();
sleep(.5);
movecenterslow(400);
sleep(.2);
}
while(analog(4) <= 190 && analog(6) <= 190) {
movecenterslow(500);
}
ao();
turnCCW();
sleep(1);
movecenterfast(900);
sleep(3.2124512516);
turnCW();
while(analog(4) <= 190 && analog(6) <= 190) {
movecenterfast(500);
}
ao();
sleep(8);
movecenterfast(800);
sleep(1);
while(analog(4) <= 190) {
movecenterslow(500);
}
ao();
//at this point it has stopped at our side of the center divider
set_servo_position(1, 1600); //lift up the arms enough so that the robot can still detect the line while clearing the center bump.
while(analog(4) >= 190 || analog(6) >= 190)
{
movecenterfast(900); //move forward as long as both of the sensors arent over white
}
set_servo_position(1,2000);
turnCCW();
//insert tower tracking function here (possibly move servos to knock over towers
turnCW();
turnCW();
movecenterfast(900);
sleep(1);
turnCCW();
LuggageTrack(); //track and pick up luggage
movecenterbackwards(600);
sleep(3);
ao();
set_servo_position(1,200);
movecenterbackwards(400);
sleep(1);
ao();
turnCCW();
movecenter(600);
sleep(1.5);
ao();
turnCW();
while(analog(4) <= 190 && analog(6) <= 190) {
movecenterslow(350);
}
ao();
movecenterslow(200);
sleep(0.3);
ao();
}
task autonomous()
{
if(sensorValue(redBlueSwitch) < SWITCH){
red = true;
}
else{
red = false;
}
if(red){
motor[hook] = -127;
wait10Msec(60);
motor[hook] = 64;
wait10Msec(200);
motor[hook] = 0;
turnCW(159, 127);
wait10Msec(1);
move(1.3,127);
wait10Msec(1);
turnCCW(161, 127);
wait10Msec(1);
move(1.1,127);
wait10Msec(1);
move(.7,-127);
wait10Msec(1);
turnCW(125,127);
wait10Msec(1);
move(1.1,127);
wait10Msec(1);
turnCCW(125,127);
wait10Msec(1);
move(1.4,127);
wait10Msec(1);
move(.7,-127);
wait10Msec(1);
turnCCW(45,127);
wait10Msec(1);
move(1.5,127);
wait10Msec(1);
}
else{
motor[hook] = -127;
wait10Msec(60);
motor[hook] = 64;
wait10Msec(200);
motor[hook] = 0;
turnCCW(159, 127);
wait10Msec(1);
move(1.3,127);
wait10Msec(1);
turnCW(161, 127);
wait10Msec(1);
move(1.1,127);
wait10Msec(1);
move(.7,-127);
wait10Msec(1);
turnCCW(125,127);
wait10Msec(1);
move(1.1,127);
wait10Msec(1);
turnCW(125,127);
wait10Msec(1);
move(1.4,127);
wait10Msec(1);
move(.7,-127);
wait10Msec(1);
turnCW(45,127);
wait10Msec(1);
move(1.5,127);
wait10Msec(1);
}
}
int main()
{
// wait_for_light(7);
enable_servos();
set_servo_position(1,1500);
float threshold=190; // set threshold for light conditions
while(analog(4) <= 190 && analog(6) <= 190) {
movecenterslow(500);
}
if(analog(4) >= threshold ||analog(6) >= threshold) {
ao();
sleep(.5);
movecenterfast(700);
sleep(.1);
}
while(analog(4) <= 190 && analog(6) <= 190) {
movecenterslow(500);
}
ao();
turnCCW();
sleep(1);
movecenterfast(900);
sleep(4);
turnCW();
while(analog(4) <= 190 && analog(6) <= 190) {
movecenterfast(500);
}
ao();
sleep(11);
movecenterfast(900);
sleep(1);
while(analog(4) <= 190) {
movecenterslow(1000);
}
ao();
//at this point it has stopped at our side of the center divider
//THE LINE DETECTOR PART OF CROSSING CENTER IS NO LONGER NECCESSARY, JUST SET DISTANCE IT
set_servo_position(1, 300);
sleep(0.5); //lift up the arms enough so that the robot can still detect the line while clearing the center bump.
mav(0,1000);
mav(1,1000); //move forward over the center (this needs to be set distance because the arms need to clear the bump and the light sensors are on the arms
sleep(4.3);
ao();
//NOW ON OTHER SIDE, IN MIDDLE REGION
//can run either biofuel blocking code or luggage cart code
biofuelblock();
while(digital(12) == 0)
{
luggagecartcafe();
movecenterfast(500);
sleep(0.4);
}
set_servo_position(1,1000);
sleep(0.75);
movecenterbackwards(800);
sleep(3);
/*set_servo_position(1,1600);
sleep(0.5);
turnCCW();
//insert tower tracking function here (possibly move servos to knock over towers
//if this was biofuel, andrews code goes here
sleep(3);
movecenterfast(800);
sleep(1);
ao();
sleep(3);
movecenterbackwards(800);
sleep(1);
turnCW();
turnCW();
sleep(1);
turnCCW();
sleep(5);
ao();
while(digital(12)==0) {
movecenterfast(1000);
}
/*while(digital(12)==0) {
LuggageTrack();
movecenterfast(500);
sleep(0.5);
ao();
}//track and pick up luggage
set_servo_position(1,950);
sleep(3);
movecenterbackwards(500);
sleep(3);
ao();
set_servo_position(1,5);
sleep(0.7);
movecenterbackwards(400);
sleep(1.5);
turnCCW();
while(digital(12)==0){
movecenterfast(600);
}
movecenterbackwards(400);
sleep(0.5);
turnCW();
set_servo_position(1,1900);
while(analog(4) <= 190 && analog(6) <= 190) {
movecenterslow(500);
}
ao();
turnCW();
while(analog(4) <= 190 && analog(6) <= 190) {
movecenterslow(350);
}
ao();
movecenterslow(200);
sleep(0.3);
ao();
/*while (digital(12) == 0)
{
LuggageTrack2();
// if(z=1){
movecenterfast(600);
// sleep(0.5);
//}
}
ao();
set_servo_position(1,950);
movecenterbackwards(500);
sleep(3);
ao();
set_servo_position(1,5);
sleep(0.7);
movecenterbackwards(400);
sleep(1.5);
turnCCW();
while(digital(12)==0){
movecenterfast(600);
}
movecenterbackwards(400);
sleep(0.5);
turnCW();
set_servo_position(1,1900);
while(analog(4) <= 190 && analog(6) <= 190) {
movecenterslow(500);
}
ao();
*/
//Luggagecartcafe();
sleep(4);
set_servo_position(1,200);
while(digital(12) == 0) {
movecenterfast(600);
}
Luggagecartcafe();
}
