task main () {
displayCenteredTextLine(0, "Mindsensors");
displayCenteredBigTextLine(1, "TMUX");
displayCenteredTextLine(3, "SMUX Test");
displayCenteredTextLine(5, "Connect SMUX to");
displayCenteredTextLine(6, "S1 and TMUX to");
displayCenteredTextLine(7, "SMUX Port 1");
sleep(2000);
while (true) {
eraseDisplay();
displayTextLine(0, "MS Touch MUX");
// Get the raw data from the sensor, this is not processed
// by the driver in any way.
displayTextLine(1, "Raw: %d", 1023 - HTSMUXreadAnalogue(MSTMUX));
// Go through each possible touch switch attached to the TMUX
// and display whether or not is active (pressed)
for (short i = 1; i < 4; i++) {
if (MSTMUXisActive(MSTMUX, i))
displayTextLine(i+2, "Touch %d: on", i);
else
displayTextLine(i+2, "Touch %d: off", i);
}
// Display the binary value of the active touch switches
// 0 = no touch, 1 = touch 1 active, 2 = touch 2 active, etc.
// touch 1 + touch 2 active = 1 + 2 = 3.
displayTextLine(7, "Status: %d", MSTMUXgetActive(MSTMUX));
sleep(50);
}
}
task main(){
// This struct holds all the sensor related data
tDIMC compass;
displayCenteredTextLine(0, "Dexter Ind.");
displayCenteredBigTextLine(1, "dCompass");
displayCenteredTextLine(3, "Test 1");
displayCenteredTextLine(5, "Connect sensor");
displayCenteredTextLine(6, "to S1");
sleep(2000);
eraseDisplay();
// Fire up the compass and initialize it. Only needs to be done once.
if (!initSensor(&compass, DIMC))
playSound(soundException);
sleep(100);
while (true){
// Read the Compass
if (!readSensor(&compass))
playSound(soundException);
displayCenteredBigTextLine(2, "%3.2f", compass.heading);
displayTextLine(5, "%d", compass.axes[0]);
displayTextLine(6, "%d", compass.axes[1]);
displayTextLine(7, "%d", compass.axes[2]);
sleep(50);
}
}
//function to get passenger's current y location from numeric keypad
int get_passenger_location_y(){
int keys = 0;
unsigned byte key[] = {0};
int number = 0;
string output;
eraseDisplay();
displayCenteredTextLine(0, "Enter y-location");
displayTextLine(1, "-------------------");
displayTextLine(5, "-------------------");
while (true){
if (!MSNPscanKeys(MSNP, keys, key[0], number))
stopAllTasks();
if ((number>=0)&&(number<20)){
//if (number == 8){number = 0;}
displayTextLine(3, "Numpad Key: %d", number);
wait1Msec(1000);
sleep(100);
return number;
break;
}
}
}
task main() {
short raw = 0;
short nrm = 0;
nNxtButtonTask = -2;
eraseDisplay();
displayTextLine(0, "Dexter Industries");
displayCenteredBigTextLine(1, "dFlex");
displayCenteredTextLine(3, "Test 1");
displayCenteredTextLine(5, "Connect sensor");
displayCenteredTextLine(6, "to S1");
sleep(2000);
eraseDisplay();
displayTextLine(0, "dFlex Sensor");
while (true) {
displayClearTextLine(5);
displayClearTextLine(6);
// Get the raw value from the sensor
raw = DFLEXvalRaw(DFLEX);
// Get the normalised value from the sensor
nrm = DFLEXvalNorm(DFLEX);
displayTextLine(2, "Raw: %4d", raw);
displayTextLine(4, "Norm: %4d", nrm);
sleep(50);
}
}
task main() {
// The data to be written: 0x3F = 111111 binary,
// makes all digital ports outputs.
HTPBsetupIO(HTPB, 0x3F);
while(true) {
// Switch off LED on port B0
HTPBwriteIO(HTPB, 0x00);
sleep(30);
wolight = HTPBreadADC(HTPB, 0, 10);
// Switch on LED on port B0
HTPBwriteIO(HTPB, 0x01);
sleep(30);
wlight = HTPBreadADC(HTPB, 0, 10);
// Calculate the difference
lightdelta = wlight - wolight;
eraseDisplay();
displayTextLine(1, "%4d", wlight);
displayTextLine(2, "%4d", wolight);
displayTextLine(3, "%4d", lightdelta);
sleep(30);
}
}
task main () {
// declare and initialise the sensor
tTIR tir;
initSensor(&tir, S1);
displayCenteredTextLine(0, "Dexter Industries");
displayCenteredTextLine(1, "Thermal Infrared");
displayCenteredTextLine(3, "Test 1");
displayCenteredTextLine(5, "Connect sensor");
displayCenteredTextLine(6, "to S1");
sleep(2000);
eraseDisplay();
// set emissivity for light skin
setEmissivity(&tir, TIR_EM_SKIN_LIGHT);
sleep(200);
displayCenteredTextLine(0, "Dexter Industries");
displayCenteredTextLine(1, "Thermal Infrared");
while (true) {
// Read the currently detected ambient and object temp from the sensor
readSensor(&tir);
displayTextLine(3, "A: %3.2f", tir.ambientTemp);
displayTextLine(4, "O: %3.2f", tir.objectTemp);
sleep(100);
}
}
task main(){
short heading;
short x_val, y_val, z_val; // axis values
displayCenteredTextLine(0, "Mindsensors");
displayCenteredBigTextLine(1, "IMU");
displayCenteredTextLine(3, "Test 2");
displayCenteredTextLine(5, "Connect sensor");
displayCenteredTextLine(6, "to S1");
sleep(2000);
eraseDisplay();
while (true){
// Read the Compass
heading = MSIMUreadHeading(MSIMU);
displayTextLine(1, "%d", heading);
// Read the tilt
MSIMUreadTiltAxes(MSIMU, x_val, y_val, z_val);
displayTextLine(5, "%d", x_val);
displayTextLine(6, "%d", y_val);
displayTextLine(7, "%d", z_val);
sleep(50);
}
}
task main()
{
bFloatConversionErrors=true;
displayTextLine(0, "HT Gyro");
displayTextLine(1, "Test task");
displayTextLine(5, "Press enter");
displayTextLine(6, "to set relative");
displayTextLine(7, "heading");
sleep(2000);
eraseDisplay();
startTask(gyro_loop);
while(true)
{
if(getXbuttonValue(xButtonEnter))
{
gyro_loop_state = CALIBRATION;
sleep(2000);
}else if(getXbuttonValue(xButtonLeft))
{
gyro_loop_state = STOPPED;
while(gyro_loop_state!=STOPPED)
sleep(2000);
stopTask(gyro_loop);
}else if(getXbuttonValue(xButtonRight))
{
startTask(gyro_loop);
}else
{
sleep(1000);
}
}
}
task main () {
short keys = 0;
unsigned byte key[] = {0};
short number = 0;
string output;
displayCenteredTextLine(0, "Mindsensors");
displayCenteredBigTextLine(1, "NumPad");
displayCenteredTextLine(3, "Test 1");
displayCenteredTextLine(5, "Connect sensor");
displayCenteredTextLine(6, "to S1");
sleep(2000);
eraseDisplay();
displayCenteredTextLine(0, "Mindsensors NP");
displayTextLine(1, "-------------------");
displayTextLine(5, "-------------------");
displayTextLine(7, "X: no key");
while (true) {
// Which key is being pressed now?
if (!MSNPscanKeys(MSNP, keys, key[0], number))
stopAllTasks();
// "convert" to string so we can print it
output = key;
displayTextLine(3, "Numpad Key: %s", output);
displayTextLine(4, "Numpad Num: %d", number);
sleep(100);
}
}
void createTeleopConfigFile(string &sExecutableName)
{
TFileIOResult nIoResult;
TFileHandle hFileHandle;
short nFileSize;
deleteTeleOpConfigFile(); // Erase existing file
// Create the file
nFileSize = strlen(sExecutableName) + 4;
OpenWrite(hFileHandle, nIoResult, sTextFileName, nFileSize);
WriteText(hFileHandle, nIoResult, sExecutableName);
WriteText(hFileHandle, nIoResult, ".rxe");
Close(hFileHandle, nIoResult);
// Display Message
displayTextLine(5, "");
if(nIoResult == ioRsltSuccess)
displayCenteredTextLine(6, "File Created" );
else
displayCenteredTextLine(6, "File Error");
displayTextLine(7, "");
wait1Msec(1250);
return;
}
void printLayar(long red, long green, long blue){
writeDebugStreamLine("R : %ld",red);
writeDebugStreamLine("G : %ld",green);
writeDebugStreamLine("B : %ld",blue);
getColorRGB(colorSensor,red,green,blue);
displayTextLine(2,"R : %ld",red);
displayTextLine(3,"G : %ld",green);
displayTextLine(4,"B : %ld",blue);
}
task main()
{
//Create and configure struct for the compass:
// Create struct to hold sensor data:
tHTMC compass;
// Initialise and configure struct and port:
initSensor(&compass, S4);
//Define destination coordinates:
long destLat = 0; // Add the latitude destination here.
long destLong = 0; // Add the longitude destination here.
long GPSrelHeading;
long distance;
DGPSsetDestination(DGPS, destLat, destLong);
while (DGPSreadDistToDestination(DGPS) > 0) //Travelling to destination
{
GPSrelHeading = DGPSreadRelHeading(DGPS);
distance = DGPSreadDistToDestination(DGPS);
// Here, the relative heading of the GPS is set as the target heading of the compass;
// a compass.relativeHeading of 0 means the destination is straight ahead, > 0 heading means it
// is to the left, and < 0 means the dest is to the right.
readSensor(&compass);
compass.offset = GPSrelHeading;
displayTextLine(3, "GPSRelHead: %d", GPSrelHeading);
readSensor(&compass);
displayTextLine(5, "CompRelHead: %d", compass.relativeHeading);
displayTextLine(7, "Distance: %d", distance);
setMotorSpeed(LEFT, 75);
setMotorSpeed(RIGHT, 75);
readSensor(&compass);
if (compass.relativeHeading > 5) //If car is right of dest., turn left
{
steerLeft();
}
else if (compass.relativeHeading < -5) //If car is left of dest., turn right
{
steerRight();
}
else //dest. is forward
{
steerRecenter();
}
sleep(1000);
}
//Destination reached
setMotorSpeed(LEFT, 0);
setMotorSpeed(RIGHT, 0);
steerRecenter();
}
task main()
{
long red,green,blue;
float jarakSementara = 0;
// sensor sees light:
resetTimer(timer1);
int costWarna;
while(true)
{
printLayar(red,green,blue);
getColorRGB(colorSensor,red,green,blue);
if(red < 20 && green < 20 && blue < 20)
{
// counter-steer left:
motor[leftMotor] = 25;
motor[rightMotor] = 15;
}
// sensor sees dark:
else if (red > 70 && green > 70 && blue > 70)
{
//counter right
motor[leftMotor] = 5;
motor[rightMotor] = 25;
}
//sensor sees light
else
{
//go straight
motor[leftMotor] = 20;
motor[rightMotor] = 20;
sleep(200);
costWarna = checkCost(red,green,blue);
if (costWarna == 100) //intersection green
{
motor[leftMotor] = 0;
motor[rightMotor] = 0;
sleep(1000);
displayTextLine(7,"detected intersection");
} else if (costWarna == 101) //intersection green
{
turnLeft();
turnLeft();
sleep(1000);
displayTextLine(7,"detected stop turn around");
}
displayTextLine(6,"costWarna = %d",costWarna);
}
jarakSementara = getTimer(timer1, seconds);
printJarak(jarakSementara);
}
}
task main () {
short soundraw = 0;
short soundnorm = 0;
bool dba = false;
nNxtButtonTask = -2;
displayCenteredTextLine(0, "Lego");
displayCenteredBigTextLine(1, "Sound");
displayCenteredTextLine(3, "SMUX Test");
displayCenteredTextLine(5, "Connect SMUX to");
displayCenteredTextLine(6, "S1 and snd sensor");
displayCenteredTextLine(7, "to SMUX Port 1");
sleep(2000);
eraseDisplay();
displayTextLine(0, "Lego Sound Sensor");
displayTextLine(6, "[enter] to switch");
displayTextLine(7, "dB and dBA mode");
// Set the sensor to dB mode.
SNDsetDB(LEGOSND);
displayCenteredTextLine(1, "dB mode");
while(true) {
// The enter button has been pressed, switch
// to the other mode
if (nNxtButtonPressed == kEnterButton) {
dba = !dba;
if (!dba) {
// set the sensor to DB mode
SNDsetDB(LEGOSND);
displayCenteredTextLine(1, "dB mode");
} else {
// set the sensor to dBA mode.
SNDsetDBA(LEGOSND);
displayCenteredTextLine(1, "dBA mode");
}
// wait 500ms to debounce the switch
sleep(500);
}
// Read the normalised value of the sensor
soundraw = SNDreadRaw(LEGOSND);
// Display the raw and normalised values
soundnorm = SNDreadNorm(LEGOSND);
// display the info from the sensor
displayTextLine(3, "Raw: %3d", soundraw);
displayTextLine(4, "Norm: %3d", soundnorm);
sleep(50);
}
}
/*
=============================================================================
main task with some testing code
*/
task main() {
// Standard range is set to short range
bool shortrange = true;
tObstacleZone zone = MSSUMO_NONE;
nNxtButtonTask = -2;
eraseDisplay();
displayCenteredTextLine(0, "Mindsensors");
displayCenteredBigTextLine(1, "SUMO Eyes");
displayCenteredTextLine(3, "Test 1");
displayCenteredTextLine(5, "Press enter to");
displayCenteredTextLine(6, "switch between");
displayCenteredTextLine(7, "ranges");
sleep(2000);
eraseDisplay();
// Set the sensor to short range
MSSUMOsetShortRange(HTMSSUMO);
while(true) {
if (time1[T1] > 1000) {
if (shortrange == false) {
// set the sensor to short range and display this
MSSUMOsetShortRange(HTMSSUMO);
displayClearTextLine(1);
displayTextLine(1, "Short range");
shortrange = true;
} else {
// set the sensor to long range and display this
MSSUMOsetLongRange(HTMSSUMO);
displayClearTextLine(1);
displayTextLine(1, "Long range");
shortrange = false;
}
playSound(soundBeepBeep);
while(bSoundActive)
time1[T1] = 0;
}
while(nNxtButtonPressed != kEnterButton) {
// Read the zone data
zone = MSSUMOreadZone(HTMSSUMO);
switch (zone) {
case MSSUMO_FRONT: displayCenteredBigTextLine(4, "FRONT"); break;
case MSSUMO_LEFT: displayCenteredBigTextLine(4, "LEFT"); break;
case MSSUMO_RIGHT: displayCenteredBigTextLine(4, "RIGHT"); break;
case MSSUMO_NONE: displayCenteredBigTextLine(4, "NONE"); break;
}
sleep(50);
}
}
}
// main task
task main ()
{
displayCenteredTextLine(0, "HiTechnic");
displayCenteredBigTextLine(1, "IR Seekr");
displayCenteredTextLine(3, "Test 1");
displayCenteredTextLine(5, "Press enter to");
displayCenteredTextLine(6, "switch between");
displayCenteredTextLine(7, "600 and 1200 Hz");
sleep(2000);
// Create struct to hold sensor data
tHTIRS2 irSeeker;
// Initialise and configure struct and port
initSensor(&irSeeker, S1);
while(true)
{
// You can switch between the two different DSP modes by pressing the
// orange enter button
playSound(soundBeepBeep);
while(bSoundActive)
{}
eraseDisplay();
// display the current DSP mode
if (irSeeker.mode == DSP_1200)
displayTextLine(0, " DC 1200");
else
displayTextLine(0, " DC 600");
while (true)
{
if (getXbuttonValue(xButtonEnter))
{
// "Enter" button has been pressed. Need to switch mode
irSeeker.mode = (irSeeker.mode == DSP_1200) ? DSP_600 : DSP_1200;
while(getXbuttonValue(xButtonEnter))
{
sleep(1);
}
break;
}
// Read the sensor data.
readSensor(&irSeeker);
displayTextLine(1, "D:%4d %4d 3%d", irSeeker.dcDirection, irSeeker.acDirection, irSeeker.enhDirection);
displayTextLine(2, "0:%4d %d", irSeeker.dcValues[0], irSeeker.acValues[0]);
displayTextLine(3, "0:%4d %4d", irSeeker.dcValues[1], irSeeker.acValues[1]);
displayTextLine(4, "0:%4d %4d %3d", irSeeker.dcValues[2], irSeeker.acValues[2], irSeeker.enhStrength);
displayTextLine(5, "0:%4d %4d", irSeeker.dcValues[3], irSeeker.acValues[3]);
displayTextLine(6, "0:%4d %4d", irSeeker.dcValues[4], irSeeker.acValues[4]);
displayTextLine(7, "Enter to switch");
}
}
}
task main () {
short distance = 0;
short voltage = 0;
short mindist = 0;
short maxdist = 0;
string type;
displayCenteredTextLine(0, "Mindsensors");
displayCenteredBigTextLine(1, "DIST-nx");
displayCenteredTextLine(3, "Test 1");
sleep(2000);
playSound(soundBeepBeep);
while(bSoundActive) EndTimeSlice();
eraseDisplay();
// Read the minimum distance the sensor can "see"
mindist = MSDISTreadMinDist(MSDIST);
// Read the maximum distance the sensor can "see"
maxdist = MSDISTreadMaxDist(MSDIST);
// Get the type of Sharp IR module connected to the sensor
switch(MSDISTreadModuleType(MSDIST)) {
case MSDIST_GP2D12: type = " GP2D12"; break;
case MSDIST_GP2D120: type = "GP2D120"; break;
case MSDIST_GP2YA02: type = "GP2YA02"; break;
case MSDIST_GP2YA21: type = "GP2YA21"; break;
case MSDIST_CUSTOM: type = " CUSTOM"; break;
}
displayTextLine(5, "Type: %s", type);
displayTextLine(6, "Min: %4dmm", mindist);
displayTextLine(7, "Max: %4dmm", maxdist);
while (true) {
// Get the distance calculated based on the data from the IR Sharp module
distance = MSDISTreadDist(MSDIST);
// Get the raw voltage data from the Sharp IR module
voltage = MSDISTreadVoltage(MSDIST);
if (distance < 0) {
displayTextLine(4, "ERROR!!");
sleep(2000);
stopAllTasks();
}
displayCenteredBigTextLine(0, "%4dmm", distance);
displayCenteredBigTextLine(3, "%4dmV", voltage);
sleep(50);
}
}
task main () {
long encA = 0;
long encB = 0;
long distance = 0;
long mindist = 0;
long maxdist = 0;
short motorSpeed = 0;
eraseDisplay();
MSMMUXinit();
MSMotorStop(mmotor_S1_1);
MSMotorStop(mmotor_S1_2);
sleep(500);
// Reset the encoders. This can be done individually or all at once.
// You should do this at the start of your program.
MSMMotorEncoderResetAll(MSMMUX);
// Read the minimum distance the sensor can "see"
mindist = MSDISTreadMinDist(MSDIST);
// Read the maximum distance the sensor can "see"
maxdist = MSDISTreadMaxDist(MSDIST);
while (true) {
distance = MSDISTreadDist(MSDIST);
// Retrieve the motor-MUX's encoder counts
encA = MSMMotorEncoder(mmotor_S1_1);
encB = MSMMotorEncoder(mmotor_S1_2);
// calculate the motor speed
motorSpeed = ((distance - mindist) * 100) / (maxdist - mindist);
// Tell the motors to start moving.
MSMMotor(mmotor_S1_1, motorSpeed);
MSMMotor(mmotor_S1_2, motorSpeed);
// Display the info.
displayTextLine(4, "D: %5d", distance);
displayTextLine(5, "A: %5d (%3d)", encA, motorSpeed);
displayTextLine(6, "B: %5d (%3d)", encB, motorSpeed);
sleep(20);
}
}
int alignToLine(){
int nowGyro = getGyroDegrees(gyroSensor);
int deltaGyro = 0;
int result = 1;
while (!isSensorSeesLight() && (( nowGyro - getGyroDegrees(gyroSensor)) <= 120)) {
steerRightFixedAxis();
}
deltaGyro = nowGyro-getGyroDegrees(gyroSensor);
displayTextLine(12,"%d",deltaGyro);
//Kasus menemukan sudut tumpul
if ((deltaGyro >60) && (deltaGyro <122)) {
result = 2;
}
//Kasus tidak menemukan garis
if ( !isSensorSeesLight()) {
while( nowGyro-getGyroDegrees(gyroSensor) >= 0) {
steerLeftFixedAxis();
}
result = 0;
}
return result;
}
task main() {
// Local variables
short soundlevel;
ubyte outputdata;
// The data to be written: 0x3F = 111111 binary,
// makes all digital ports outputs.
HTPBsetupIO(HTPB, 0x3F);
while(true) {
// Get the value from the LEGO sound sensor.
soundlevel = 1023 - SensorValue[SOUND_PORT];
eraseDisplay();
displayTextLine(1, "%d", soundlevel);
// Depending on the input voltage on A0,
// turn on the corresponding LED.
outputdata = 0x01;
outputdata = 0x01;
if (soundlevel > 65) outputdata = 0x02;
if (soundlevel > 108) outputdata = 0x04;
if (soundlevel > 180) outputdata = 0x08;
if (soundlevel > 300) outputdata = 0x10;
if (soundlevel > 500) outputdata = 0x20;
HTPBwriteIO(HTPB, outputdata);
sleep(50);
}
}
task main () {
nNxtButtonTask = -2;
displayCenteredTextLine(0, "Mindsensors");
displayCenteredBigTextLine(1, "Angle");
displayCenteredTextLine(3, "Test 2");
displayCenteredTextLine(5, "Connect sensor");
displayCenteredTextLine(6, "to S1");
MSANGresetAngle(MSANG);
sleep(2000);
eraseDisplay();
while (true) {
// Reset the angle to 0
if (nNxtButtonPressed == kEnterButton)
{
debounce();
calibrateScales();
debounce();
}
displayCenteredTextLine(0, "GlideWheel-AS");
displayCenteredTextLine(1, "Weighing scale");
displayTextLine(7, "[enter] to calib.");
displayCenteredBigTextLine(4, "%d g", weighObject());
sleep(20);
}
}
task main () {
short red = 0;
short green = 0;
short blue = 0;
short _color = 0;
string _tmp;
displayCenteredTextLine(0, "HiTechnic");
displayCenteredBigTextLine(1, "COLOUR");
displayCenteredTextLine(3, "Test 1");
displayCenteredTextLine(5, "Connect sensor");
displayCenteredTextLine(6, "to S1");
sleep(2000);
eraseDisplay();
while (true) {
// Read the currently detected colour from the sensor
_color = HTCSreadColor(HTCS);
// If colour == -1, it implies an error has occurred
if (_color < 0) {
displayTextLine(4, "ERROR!!");
sleep(2000);
stopAllTasks();
}
// Read the RGB values of the currently colour from the sensor
// A return value of false implies an error has occurred
if (!HTCSreadRGB(HTCS, red, green, blue)) {
displayTextLine(4, "ERROR!!");
sleep(2000);
stopAllTasks();
}
displayCenteredTextLine(0, "Color: %d", _color);
displayCenteredBigTextLine(1, "R G B");
eraseRect(0,10, 99, 41);
fillRect( 0, 10, 30, 10 + (red+1)/8);
fillRect(35, 10, 65, 10 + (green+1)/8);
fillRect(70, 10, 99, 10 + (blue+1)/8);
StringFormat(_tmp, " %3d %3d", red, green);
displayTextLine(7, "%s %3d", _tmp, blue);
sleep(100);
}
}
void driveToTarget(int target) {
displayTextLine(1, "%d", target);
resetMotorEncoder(LWheel);
resetMotorEncoder(RWheel);
setMotorSpeed(RWheel, 15);
setMotorSpeed(LWheel, 15);
while (getMotorEncoder(LWheel) < target || getMotorEncoder(RWheel) < target) {}
}
//displays the array and writes to a file
void checkarray(void)
{
string line1='\n';
int line2=strlen(line1);
displayTextLine(2,"%c,%c,%c,%c,%c,%c,%c,%c,%c",grid[6][0],grid[6][1],grid[6][2],grid[6][3],grid[6][4],grid[6][5],grid[6][6],grid[6][7],grid[6][8]);
displayTextLine(3,"%c,%c,%c,%c,%c,%c,%c,%c,%c",grid[5][0],grid[5][1],grid[5][2],grid[5][3],grid[5][4],grid[5][5],grid[5][6],grid[5][7],grid[5][8]);
displayTextLine(4,"%c,%c,%c,%c,%c,%c,%c,%c,%c",grid[4][0],grid[4][1],grid[4][2],grid[4][3],grid[4][4],grid[4][5],grid[4][6],grid[4][7],grid[4][8]);
displayTextLine(5,"%c,%c,%c,%c,%c,%c,%c,%c,%c",grid[3][0],grid[3][1],grid[3][2],grid[3][3],grid[3][4],grid[3][5],grid[3][6],grid[3][7],grid[3][8]);
displayTextLine(6,"%c,%c,%c,%c,%c,%c,%c,%c,%c",grid[2][0],grid[2][1],grid[2][2],grid[2][3],grid[2][4],grid[2][5],grid[2][6],grid[2][7],grid[2][8]);
displayTextLine(7,"%c,%c,%c,%c,%c,%c,%c,%c,%c",grid[1][0],grid[1][1],grid[1][2],grid[1][3],grid[1][4],grid[1][5],grid[1][6],grid[1][7],grid[1][8]);
displayTextLine(8,"%c,%c,%c,%c,%c,%c,%c,%c,%c",grid[0][0],grid[0][1],grid[0][2],grid[0][3],grid[0][4],grid[0][5],grid[0][6],grid[0][7],grid[0][8]);
motor[motorB]=0;
motor[motorC]=0;
wait1Msec(1000);
//write to file
for(int h=0;h<7;h++)
{
for(int j=0;j<9;j++)
{
fileWriteChar(fileHandle,grid[h][j]);
}
fileWriteData(fileHandle,line1,line2);
}
fileClose(fileHandle);
}//end check array()
task main() {
short raw = 0;
short nrm = 0;
bool active = true;
// Turn the light on
LSsetActive(LEGOLS);
displayCenteredTextLine(0, "Lego");
displayCenteredBigTextLine(1, "LIGHT");
displayCenteredTextLine(3, "SMUX Test");
displayCenteredTextLine(5, "Connect SMUX to");
displayCenteredTextLine(6, "S1 and sensor to");
displayCenteredTextLine(7, "SMUX Port 1");
sleep(2000);
displayClearTextLine(7);
displayTextLine(5, "Press [enter]");
displayTextLine(6, "to toggle light");
sleep(2000);
while (true) {
// The enter button has been pressed, switch
// to the other mode
if (getXbuttonValue(xButtonEnter))
{
active = !active;
if (!active)
LSsetInactive(LEGOLS);
else
LSsetActive(LEGOLS);
// wait 500ms to debounce the switch
sleep(500);
}
displayClearTextLine(5);
displayClearTextLine(6);
raw = LSvalRaw(LEGOLS);
nrm = LSvalNorm(LEGOLS);
displayTextLine(5, "Raw: %4d", raw);
displayTextLine(6, "Norm: %4d", nrm);
sleep(50);
}
}
void cekHue(){
int hue;
motor[leftMotor] = 0;
motor[rightMotor] = 0;
while(1) {
displayTextLine(1,"Hue : %d",hue);
hue=getColorHue(colorSensor);
}
}
task main()
{
while (true)
{
gyro_value = SensorValue(GyroSensor) - offset;
displayTextLine(1, "Gyro reading: %d", gyro_value);
//wait1Msec(2);
}
}
task main() {
// The data to be written: 0x10 = 010000 binary,
// makes B4 digital port an output.
HTSPBsetupIO(HTSPB, 0x10);
while(true) {
if(HTSPBreadIO(HTSPB, 0x01) == 0) {
eraseDisplay();
displayTextLine(1, "Magnet present");
HTSPBwriteIO(HTSPB, 0x10);
} else {
eraseDisplay();
displayTextLine(1, "Magnet absent");
HTSPBwriteIO(HTSPB, 0x00);
}
wait1Msec(50);
}
}
task main()
{
eraseDisplay();
if (HTSMUXreadSensorType(IRL) == HTSMUXIRSeeker) {
writeDebugStreamLine("IRL is HTSMUXIRSeeker");
}
else if (HTSMUXreadSensorType(IRL) == HTSMUXIRSeekerNew ) {
writeDebugStreamLine("IRL is HTSMUXIRSeekerNew");
}
else {
writeDebugStreamLine("IRL is unknown");
}
if (HTSMUXreadSensorType(IRR) == HTSMUXIRSeeker) {
writeDebugStreamLine("IRR is HTSMUXIRSeeker");
}
else if (HTSMUXreadSensorType(IRR) == HTSMUXIRSeekerNew ) {
writeDebugStreamLine("IRR is HTSMUXIRSeekerNew");
}
else {
writeDebugStreamLine("IRR is unknown");
}
while(true)
{
eraseDisplay();
byte status = HTSMUXreadStatus(S1);
displayTextLine(1, "Status: %d", status);
if(status & HTSMUX_STAT_BATT == HTSMUX_STAT_BATT) {
displayTextLine (1, "no power to MUX");
PlaySound(soundException);
// PlaySound(soundBeepBeep);
}
int currentIRL = HTIRS2readACDir(IRL);
int currentIRR = HTIRS2readACDir(IRR);
int irl1, irl2, irl3, irl4, irl5 = -1;
int irr1, irr2, irr3, irr4, irr5 = -1;
HTIRS2readAllACStrength(IRL, irl1, irl2, irl3, irl4, irl5 );
HTIRS2readAllACStrength(IRR, irr1, irr2, irr3, irr4, irr5 );
displayTextLine(2, "D %d %d", currentIRL, currentIRR);
displayTextLine(3, "0 %d %d", irl1, irr1);
displayTextLine(4, "1 %d %d", irl2, irr2);
displayTextLine(5, "2 %d %d", irl3, irr3);
displayTextLine(6, "3 %d %d", irl4, irr4);
displayTextLine(7, "4 %d %d", irl5, irr5);
}
}
task main () {
float x_Phi = 0.0; // should be 0.494233933 according to Excel
float X_val = -20;
float X_mean = -19.80093313; // mu
float X_std = 13.77254704; // sigma
x_Phi = Phi(X_val, X_mean, X_std);
displayTextLine(2, "Phi(x): %f", x_Phi);
while(nNxtButtonPressed != kEnterButton) EndTimeSlice();
}
