//----main----//
task main ()
{
Delete(sFileName1, nIoResult);
Delete(sFileName2, nIoResult);
nxtDisplayCenteredTextLine(3, "Roaming");
nxtDisplayCenteredTextLine(5, "This is a test");
initialisePose(); //set up
iterate(stepSize); //run excitation etc
currentDirection = 0; //set initial
currentTheta = 0;
setTemp(); //get local view
checkLocalCell(); //create first association
datalogging();
sumPoseStruct();
while(1)
{
alive(); //stop NXT from sleeping
float centreSonarValue = SensorValue(centreSonar);
if(centreSonarValue<19)
{
doTurn();
pose3D(changeTheta,0);
}
else {
drive(100,180,50);
pose3D(changeTheta,0.5);
}
sumPoseStruct();
setTemp();
checkLocalCell();
//store data
datalogging();
clearEncoders(); //clear encoder count
changeTheta=0;
}
SaveNxtDatalog();
PlaySound(soundException);
while(bSoundActive){}
}
//----main----//
task main ()
{
nxtDisplayCenteredTextLine(3, "Pose Test");
wait1Msec(500);
initialisePose(); //set up
iterate(stepSize); //run excitation etc
currentDirection = 0; //set initial
currentTheta = 0;
changeTheta = 0;
//display data
displayMax();
nxtDisplayTextLine(2, "Num Act.: %3d",numActive);
nxtDisplayTextLine(4, "Direction: %1d", currentDirection);
nxtDisplayTextLine(5, "currentTheta:%3d", currentTheta);
nxtDisplayTextLine(6, "changeTheta:%3d", changeTheta);
datalogging();
while(totalClicks<1800)
{
alive(); //stop NXT from sleeping
totalClicks += clicks;
//drive(-100,190,50);
// drive(50,180,50);
pose3D(changeTheta,0.5);
displayMax();
nxtDisplayTextLine(2, "Num Act.: %3d",numActive);
nxtDisplayTextLine(4, "Direction: %1d", currentDirection);
nxtDisplayTextLine(5, "currentTheta:%3d", currentTheta);
nxtDisplayTextLine(6, "changeTheta:%3d", changeTheta);
clearEncoders(); //clear encoder count
changeTheta=0;
datalogging();
}
PlaySound(soundFastUpwardTones);
while(bSoundActive) {}
SaveNxtDatalog();
}
task main() {
servoChangeRate[flagRaiserExtender] = 5;
servoChangeRate[blockBlocker] = 8;
servo[flagRaiserExtender] = 220;
servo[wrist] = 90;
servo[blockBlocker] = 30;
servo[autoArm] = 145;
servo[autoBlock] = 200;
waitForStart();
//servo[flagRaiserExtender] = 0;
while (true) {
bFloatDuringInactiveMotorPWM = false;
getJoystickSettings(joystick);
driver();
arm();
datalogging();
// RobotC function for keeping the robot on
//alive();
}
}
