void
GeneratorBase::doInterface(IR__::InterfaceDef_ptr intface)
{
beginInterface(intface);
IR__::ContainedSeq_var contained_seq;
CORBA::ULong len;
CORBA::ULong i;
// contained constants
contained_seq = intface->contents(CORBA__::dk_Constant, false);
len = contained_seq->length();
for(i = 0; i < len; i++)
{
IR__::ConstantDef_var act_constant = IR__::ConstantDef::_narrow(((*contained_seq)[i]));
doConstant(act_constant);
}
// contained typedefs
contained_seq = intface->contents(CORBA__::dk_Typedef, false);
len = contained_seq->length();
for(i = 0; i < len; i++)
{
IR__::TypedefDef_var act_typedef = IR__::TypedefDef::_narrow(((*contained_seq)[i]));
doTypedef(act_typedef);
}
// contained exceptions
contained_seq = intface->contents(CORBA__::dk_Exception, false);
len = contained_seq->length();
for(i = 0; i < len; i++)
{
IR__::ExceptionDef_var act_exception = IR__::ExceptionDef::_narrow(((*contained_seq)[i]));
doException(act_exception);
}
// contained attributes
handleAttribute(intface);
// contained operations
handleOperation(intface);
endInterface(intface);
}
task main()
{
wait1Msec(3);
int beginning = beginInterface();
wait1Msec(500);
int ending = interface();
wait1Msec(500);
int timing = timeinterface();
servo(servo3) = 0;
waitForStart();
wait10Msec(timing * 100);
initialize();
wait10Msec(30);
switch(beginning) // test 'nTaskToStart' in the switch
{
case 2:
// Move away from the wall
motor[MOTOR_LEFT] = -40;
motor[MOTOR_RIGHT] = -40;
driveTo(4);
motor[MOTOR_LEFT] = 0;
motor[MOTOR_RIGHT] = 0;
// Turn toward the west wall
gyroTurn(20, 87);
motor[MOTOR_LEFT] = 0;
motor[MOTOR_RIGHT] = 0;
nMotorEncoder[MOTOR_LEFT] = 0;
nMotorEncoder[MOTOR_RIGHT] = 0;
// Drive toward the west wall
motor[MOTOR_LEFT] = -40;
motor[MOTOR_RIGHT] = -40;
driveTo(25);
motor[MOTOR_LEFT] = 0;
motor[MOTOR_RIGHT] = 0;
// Turn toward the baskets
gyroTurn(-20, 40);
nMotorEncoder[MOTOR_LEFT] = 0;
nMotorEncoder[MOTOR_RIGHT] = 0;
case 3:
//Move away from the wall
motor[MOTOR_LEFT] = -40;
motor[MOTOR_RIGHT] = -40;
driveTo(2);
motor[MOTOR_LEFT] = 0;
motor[MOTOR_RIGHT] = 0;
case 4:
case 1:
default:
}
//-------------------------------
// We're aligned with the baskets.
// Start walking along them looking for the IR beacon
motor[MOTOR_LEFT] = -60;
motor[MOTOR_RIGHT] = -63;
driveTo(4);
if(CheckIR(4) || checkIR(5)) // The first basket
{
motor[MOTOR_LEFT] = 0;
motor[MOTOR_RIGHT] = 0;
wait10Msec(4);
servoTarget(servo3) = 180;
wait10Msec(50);
//forward/back
}else { // The second basket
driveTo(13);
if(checkIR(4) || checkIR(5))
{
motor[MOTOR_LEFT] = 0;
motor[MOTOR_RIGHT] = 0;
servoTarget(servo3) = 180;
wait10Msec(150);
//forward/back
}else{ // The third basket
driveTo(35);
if(sensorValue[IRsensor] == 6 || sensorValue[IRsensor] == 5)
{
motor[MOTOR_LEFT] = 0;
motor[MOTOR_RIGHT] = 0;
servoTarget(servo3) = 180;
wait10Msec(150);
//place block
//forward/back
}else{ // The fourth basket
driveTo(45);
motor[MOTOR_LEFT] = 0;
motor[MOTOR_RIGHT] = 0;
servoTarget(servo3) = 180; // Deploy the auto-scoring arm
wait10Msec(150);
//forward/back
}
}
}
servoTarget[servo3] = 0; // Retract the auto-scoring arm
switch(ending) // test 'nTaskToStart' in the switch
{
case 1: // if 'nTaskToStart' is '1':
// Drive to the end of the baskets.
motor[MOTOR_LEFT] = 100;
motor[MOTOR_RIGHT] = 97;
while(abs(nMotorEncoder[MOTOR_RIGHT]) > 2000)
{
}
motor[MOTOR_LEFT] = 0;
motor[MOTOR_RIGHT] = 0;
// Turn toward the ramp
gyroTurn(20, 65);
nMotorEncoder[MOTOR_LEFT] = 0;
nMotorEncoder[MOTOR_RIGHT] = 0;
// Drive in front of the ramp
motor[MOTOR_LEFT] = 90;
motor[MOTOR_RIGHT] = 90;
driveTo(20);
motor[MOTOR_LEFT] = 0;
motor[MOTOR_RIGHT] = 0;
// Turn toward the ramp agai
gyroTurn(20, 30);
nMotorEncoder[MOTOR_LEFT] = 0;
nMotorEncoder[MOTOR_RIGHT] = 0;
motor[MOTOR_LEFT] = 90;
motor[MOTOR_RIGHT] = 90;
driveTo(25);
motor[MOTOR_LEFT] = 0;
motor[MOTOR_RIGHT] = 0;
gyroTurn(-20, 85);
nMotorEncoder[MOTOR_LEFT] = 0;
nMotorEncoder[MOTOR_RIGHT] = 0;
motor[MOTOR_LEFT] = -100;
motor[MOTOR_RIGHT] = -100;
driveTo(40);
motor[MOTOR_LEFT] = 0;
motor[MOTOR_RIGHT] = 0;
break; // break out of this switch statement and continue code after the '}'
case 2: // if 'nTaskToStart' is '2':
motor[MOTOR_LEFT] = -90;
motor[MOTOR_RIGHT] = -90;
driveTo(51);
motor[MOTOR_LEFT] = 0;
motor[MOTOR_RIGHT] = 0;
nMotorEncoder[MOTOR_LEFT] = 0;
nMotorEncoder[MOTOR_RIGHT] = 0;
motor[MOTOR_LEFT] = -90;
motor[MOTOR_RIGHT] = -90;
driveTo(10);
motor[MOTOR_LEFT] = 0;
motor[MOTOR_RIGHT] = 0;
gyroTurn(-40, 70);
nMotorEncoder[MOTOR_LEFT] = 0;
nMotorEncoder[MOTOR_RIGHT] = 0;
motor[MOTOR_LEFT] = -50;
motor[MOTOR_RIGHT] = -50;
driveTo(35);
motor[MOTOR_LEFT] = 0;
motor[MOTOR_RIGHT] = 0;
gyroTurn(-40, 90);
nMotorEncoder[MOTOR_LEFT] = 0;
nMotorEncoder[MOTOR_RIGHT] = 0;
motor[MOTOR_LEFT] = -90;
motor[MOTOR_RIGHT] = -90;
driveTo(35);
motor[MOTOR_LEFT] = 0;
motor[MOTOR_RIGHT] = 0;
/* gyroTurn(-20, 70);
nMotorEncoder[MOTOR_LEFT] = 0;
nMotorEncoder[MOTOR_RIGHT] = 0;
motor[MOTOR_LEFT] = 90;
motor[MOTOR_RIGHT] = 90;
driveTo(40);
motor[MOTOR_LEFT] = 0;
motor[MOTOR_RIGHT] = 0; */
// start task Two
break; // break out of this switch statement and continue code after the '}'
default: // if 'nTaskToStart' is anything other than '1' or '2':
// start task Three
}
}
