void found_something(){ ao(); camera_update(); msleep(100); camera_update(); msleep(100); camera_update(); msleep(100); while(get_object_bbox(0,0).width < 80){ camera_update(); if(get_object_center(0,0).x > 120) { motor(Motor_Left,Drivespeed_middle/2); motor(Motor_Right,-Drivespeed_middle/2); camera_update(); } else if(get_object_center(0,0).x < 70) { motor(Motor_Left,-Drivespeed_middle/2); motor(Motor_Right,Drivespeed_middle/2); camera_update(); } else { motor(Motor_Left,Drivespeed_middle/2); motor(Motor_Right,Drivespeed_middle/2); camera_update(); } msleep(5); } freeze(Motor_Left); freeze(Motor_Right); claw_close(); msleep(1000); claw_up(); }
void bordercross() { float sec1 = seconds(); float sec2; float sec3; claw_up(); sleep(0.5); toTouch(500); sleep(0.2); reverseT(500, 0.5); sleep(1); CCW(); sleep(1); forwardT(1000, 3); sleep(0.5); CCW(); reverseT(500, 1); sec2 = seconds(); sec3 = sec2 - sec1; while (sec3 < 15) { sec2 = seconds(); sec3 = sec2 - sec1; } beep(); forwardT(1000, 6); sleep(0.3); claw_down(); sleep(1); if(IR_left > threshold && IR_right > threshold) { while (1) { ao(); } } sleep(1); claw_up(); sleep(0.5); reverseT(500, 1.5); sleep(1); }
int main(){ claw_init(); while(1){ WAIT(a_button()); msleep(300); WAIT(!a_button()); claw_down(); msleep(300); claw_up(); } }
void bringback2cube(){ //claw up motor(Motor_Up,Motor_up_speed); //zurück 1s drive(1000,-Drivespeed,-Drivespeed); //turn right 90 drive(970,Turnspeed,-Turnspeed); //vor to calibrate drive(1000,Drivespeed,Drivespeed); //back drive(500,-Drivespeed,-Drivespeed); //turn so little bit b4 cubes drive(1130,Turnspeed,-Turnspeed); //vor drive(900,Drivespeed,Drivespeed); //wait for claw up claw_up(); //camera fix camera_update(); //hide your cubes cube_is_near(); //back drive(1000,-Drivespeed,-Drivespeed); //turn left more than 90 idk drive(1330,-Turnspeed,Turnspeed); //start to down motor motor(Motor_Up,Motor_down_speed); //vor to calibrate drive(1000,Drivespeed,Drivespeed); //langsamer weil wackeldackel drive(2000,Drivespeed_middle+20,Drivespeed_middle+20); //back drive(400,-Drivespeed,-Drivespeed); //turn more than 90 lulz drive(980,-Turnspeed,Turnspeed); //light left and shit drive(5000,Drivespeed_middle*2,(Drivespeed_middle*2)-7); //light back and shit drive(1000,-Drivespeed_middle*2,(-Drivespeed_middle*2)+7); //wait for claw down while(!digital(Sensor_Down)){ if(seconds()>start+113){ claw_open(); disable_servos(); } } freeze(Motor_Up); msleep(2000); claw_open(); disable_servos(); }
void biofuel_block() { CW(); sleep(0.5); forwardT(500, 3.2); sleep(0.5); claw_down(); sleep(0.5); turnStraight(500, 250); sleep(0.1); claw_up(); forwardT(100, 2); sleep(1); CCW(); forwardT(300, 2.5); sleep(0.1); patrol(); }