task main()
{
//initializeRobot();
waitForStart();
drive(0, 100, 0); // drive forward off ramp
servoUp(); // talons up
wait1Msec(2950);
servoDown(); // talons down
wait1Msec(450);
drive(-50, -35, 75);// spin around goal
wait1Msec(1250);
drive(75, 20, 75); // spin even harder
wait1Msec(1200);
drive(50, 100, 40); // spin less drive more
wait1Msec(3000);
drive(0, 100, 0); // drive those last couple feet
wait1Msec(650);
}
task main()
{
initializeRobot();
//waitForStart();
wait1Msec(delay);
goForward(2000);
spinLeft(500);
goForward(3000);
servoUp();
liftUp(3000);
drawerUp(4000);
spinLeft(1000);
goForward(3000);
goLeft(2000);
goForward(1000);
servoDown();
goBackward(1000);
goLeft(3000);
goForward(4000);
while (true){}
}
task main()
{
eraseDisplay();
bool i = inputWaitForStart();//check for wait for start
wait1Msec(500);
if(i)
{
waitForStart();
}
initializeRobot();
/*
nMotorEncoder[left] = 0;
while(abs(nMotorEncoder[left]) < inchesToEncoder(32))
{
motor[right]=100;
motor[left] = 0;
PlaySound(soundBeepBeep);
}
stopMotors();
return;
*/
driveInches(88,35,35); //drive to tube
wait1Msec(500);
servoDown();
wait1Msec(500);
driveInches(-5);
raiseLift();
wait1Msec(500);
dump();
wait1Msec(500);
dumpUp();
wait1Msec(500);
// turn around and drive to ramp
nMotorEncoder[left] = 0;
//start of floor code
//turn around and drive to ramp
nMotorEncoder[right] = 0;
//start of floor code
//go flat against wall
while(abs(nMotorEncoder[right]) < inchesToEncoder(20))
{
motor[left]= 50;
motor[right] = -50;
print(nMotorEncoder[left], 4);
}
//turn towards floor parking zone
motor[left]= 100;
motor[right] = 0;
wait1Msec(200);
motor[left] = 0;
//drive to parking zone
driveInches(120,50,50);
//release thingy
servoUp();
return;
//start of ramp code
while(abs(nMotorEncoder[left]) < inchesToEncoder(64))
{
motor[right]=100;
motor[left] = 0;
}
stopMotors();
//driveInches(4);
//driveInches(40,50,0);
turn(LEFT, 40);
driveInches(257,100,100);
turn(RIGHT, 30);
wait1Msec(5000);
PlaySound(soundFastUpwardTones);
driveInches(30, 50, 50);
wait1Msec(500);
turn(LEFT, 30);
wait1Msec(500);
driveInches(30, 50, 50);
servoUp();
//drive back off of ramp
driveInches(-90);
}
