int main()
{
printf("Line Follow."); // announce the program
sleep(1.0); // wait 1 second
create_connect(); // Open the connection between CBC and Create
int ana0 = 0, ana1 = 0; // variables to store the results of the analog sensors
create_full(); // We don't care about safety
while(get_create_lbump(0) == 0 && get_create_rbump(0) == 0){ //while the bumper is not pressed
ana0 = analog10(0); // left sensor
ana1 = analog10(1); // right sensor
printf("analog 0: %d\n", ana0);// print results
printf("analog 1: %d\n", ana1);
if((ana0 < 200) && (ana1 > 200)) // if the left sensor is off and right is on black line
{
create_spin_CW(128); // spin the create Clock Wise
}else if((ana1 < 200) && (ana0 > 200)) // else if reversed
{
create_spin_CCW(128); // spin Counter Clock Wise
}else if((ana0 < 200) && (ana1 < 200)) // else neither is on the line
{
create_drive_straight(180); // drive straight
}
}
create_stop(); // Stop the Create
create_disconnect(); // Disconnect the Create
}
/*
* Class: cbccore_low_Create
* Method: create_full
* Signature: ()V
*/
JNIEXPORT void JNICALL Java_cbccore_low_Create_create_1full(JNIEnv *env, jobject obj)
{
#ifdef CBC
create_full();
#else
printf("Java_cbccore_low_Create_create_1full stub\n");
#endif
}
int main()
{
create_connect();
init_servo();
//light_it_up(LIGHT_PORT);
lightstart(LIGHT_PORT,120.0);
create_full();
create_drive_segment(HIGH_SPEED, -150);
start_process(set_top);
create_drive_arc(HIGH_SPEED, -200, 155);
create_drive_segment(HIGH_SPEED, -365);
create_drive_arc(HIGH_SPEED, 90, -64);
create_drive_segment(HIGH_SPEED, -85);
create_cease();
set_top();
align_twall();
grab_top_de();
create_spin_angle(400,-165);
create_drive_segment(HIGH_SPEED, -320);
//align_wall();
create_stop();
create_sync();
dump_kelp_de();
create_drive_segment(HIGH_SPEED,30);//go away from starting box
create_spin_angle(HIGH_SPEED, -78);//turn to gate part 1
create_drive_segment(HIGH_SPEED, 938);//go to gate
create_drive_arc(HIGH_SPEED,185,84);//arc to gate
//create_drive_time(HIGH_SPEED,1800);//go through the gate
/*
create_drive_segment(HIGH_SPEED,1470);
create_drive_segment(HIGH_SPEED,-100);
create_spin_angle(HIGH_SPEED,78);
*/
create_cease();
create_drive_straight(HIGH_SPEED);//go onto oppponent's side of board
msleep(1400);
create_stop();
create_arc(350,550);//arc to the opponent's mpa
msleep(2500L);
create_stop();//pause to keep the creat
create_drive_straight(HIGH_SPEED);//go onto oppponent's side of board
msleep(750);
create_stop();
create_drive_straight(-HIGH_SPEED);//go onto oppponent's side of board
msleep(5000);
create_stop();
/*
create_drive_segment(500,-500);//go past the IC
create_drive_arc(320,-250,25);//arc to
create_drive_arc(320,250,-8);
*/
//create_drive_segment(HIGH_SPEED,-750);
//create_drive_arc(HIGH_SPEED,100,84);
//create_drive_segment(HIGH_SPEED,1300);
}
int main()
{
create_connect();
create_full();
while(digital(15) == 0);
create_drive_direct(-1500, -1500);
while(!(a_button_clicked()));
return 0;
}
int main()
{
create_connect();
create_full();
while(!(a_button_clicked())){
display_clear();
printf("cw:%d\nlw:%d\nrw:%d\n", get_create_cwdrop(), get_create_lwdrop(), get_create_rwdrop());
msleep(20);
}
return 0;
}
int main()
{
ROBOT = CREATE_ROBOT;
create_connect();
set_speeds();
create_full();
// test_modest_forward_backward();
test_modest_left_right();
return SUCCESS;
}
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;
}
int main()
{
create_connect();
enable_servo(ccport);
create_full();
start_morse();
morse("Botball", 1);
/* motor(1,100);
motor(0,-100);
motor(1,0);
msleep(5000);
motor(3,100);
wait_for_morse();
motor(0,0);
motor(3,0);
*/
create_disconnect();
}
void main()
{
networkSetup();
if (create_connect())exit(0);
sleep(1);
create_full();
connectToServer();
//control() in new thread
int unused = 0;
pthread_t controlThread;
int threadError = pthread_create (&controlThread,NULL,control, &unused);
if(threadError)
{
printf("thread could not be started! \nerror: %d \nexiting program!\n",threadError);
exit(0);
}
serverCommunication();
}
int main()
{
printf("initializing. please wait.\n");
enable_servos();
sleep(.25);
mav(3,100);
sleep(.8);
off(3);
enableServoDown();
sleep(.5);
release();
set_servo_position(1,120); // mini servo down
mav(3, 400); // move arm to open position -- test values -- should be slightly angeled forwards
sleep(1);
off(3);
printf("servos initalized.\n");
create_connect();
create_full();
set_create_total_angle(0);
printf("create initialized.\n");
benDance();
}
int main()
{
get_mode();
create_connect();
create_full();
set_servo_position(BAR_SERVO, BAR_CLOSED_POSITION);
set_servo_position(CLAW_SERVO, CLAW_OPEN_POSITION);
set_servo_position(GYRO_SERVO, GYRO_SETTING_POSITION);
enable_servos();
msleep(3000);
// operate_winch(WINCH_START_POSITION);
// set_servo_position(GYRO_SERVO, GYRO_START_POSITION);
// press_a_to_continue();
// set_servo_position(GYRO_SERVO, GYRO_SETTING_POSITION);
// msleep(2000);
drop_three_hangers();
//pick_up_first_doubler();
pick_up_cube();
create_disconnect();
return 0;
}
int main()
{
printf("checklist");
printf("hit black button when ready");
while(black_button());
printf("MAKE SURE CREATE IS ON!!!!!!!!");
while(!black_button());
printf("MAKE SURE ARM IS IN DOWN POSITION!!!!!!!!");
while(!black_button());
printf("MAKE SURE ARM AND CLAW WORK");
while(!black_button());
printf("CHECK POSITION OF CLAW AND ARM");
while(!black_button());
printf("MAKE SURE LIGHT SENSORT IS CALIBRATED");
while(!black_button());
// this starts the robot SECTion 1
wait_for_light(0);
shut_down_in(120.0);
//this shuts the robot down after 120.0 seconds
while(create_connect());
//connects create to cbc
set_servo_position(3, 0);
set_servo_position(0, 1800);
enable_servos();
msleep(500);
create_full();
//section 2
create_drive_direct(SUPER_FAST, SUPER_FAST);
msleep(1646);
//leave beach
create_stop();
msleep(300);
create_drive_direct(SUPER_FAST, -SUPER_FAST);
msleep(435);
//turn towards center
create_stop();
msleep(300);
create_drive_direct(SUPER_FAST, SUPER_FAST);
msleep(1600);
//move towards botguy
create_stop();
msleep(500);
//section 3
set_servo_position(0, 1424);
msleep(1800);
set_servo_position(0, 1100);
msleep(1800);
set_servo_position(0, 924);
msleep(1800);
set_servo_position(0, 724);
msleep(1800);
set_servo_position(3, 1024);
msleep(1800);
set_servo_position(0, 924);
msleep(1800);
set_servo_position(0, 1100);
msleep(1800);
set_servo_position(0, 1200);
msleep(2000);
//retrieve botguy
//section 4
create_drive_direct(-FAST, FAST);
msleep(445);
create_stop();
create_drive_direct(-FAST, -FAST);
msleep(2000);
create_stop();
create_drive_direct(FAST, -FAST);
msleep(445);
create_stop();
create_drive_direct(-FAST, -FAST);
msleep(900);
create_stop();
msleep(1600);
create_stop();
set_servo_position(3, 0);
set_servo_position(0, 1800);
msleep(1200);
set_servo_position(0, 1200);
msleep(1000);
set_servo_position(0, 1800);
msleep(1000);
create_drive_direct(1000, 1000);
msleep(800);
create_drive_direct(-1000, -1000);
msleep(800);
DRIVE(SUPER_FAST);
MSLEEP(800);
TURN(-SUPER_FAST, SUPER_FAST);
MSLEEP(460);
DRIVE(SUPER_FAST);
MSLEEP(1380);
TURN(SUPER_FAST, -SUPER_FAST);
MSLEEP(425);
DRIVE(SUPER_FAST);
SLEEP(1.5);
while(get_create_lbump(0.01) == 0)
{
DRIVE(SUPER_FAST);
}
TURN(-SUPER_FAST, SUPER_FAST);
MSLEEP(435);
TURN(SUPER_FAST, 975);
MSLEEP(500);
while(get_create_rbump(0.01) == 0)
{
TURN(SUPER_FAST, 990);
}
create_stop();
create_disconnect();
}
