int find_item()
{
camera_update();
point2 mcenter = get_object_center(1,0);
set_servo_position (0 ,400);
while(get_object_count(1) == 0){
camera_update();
create_spin_CCW(25);
}
create_stop();
sleep(1);
create_spin_CW(15);
msleep(100);
while(mcenter.x < 70 || mcenter.x > 100){
camera_update();
mcenter = get_object_center(1,0);
if(mcenter.x < 70){
create_spin_CCW(15);
camera_update();
mcenter = get_object_center(1,0);
}
if(mcenter.x < 100){
create_spin_CW(15);
camera_update();
mcenter = get_object_center(1,0);
}
if(mcenter.x > 70 && mcenter.x < 100){
create_stop();
}
}
beep();
}
static void right(int angle, float radius, int speed) {
if(radius < 0.)
return;
if (speed < -500 || speed > 500)
return;
if(angle < 0.) {
create.left(-angle, radius, speed);
return;
}
long radiusTicks = radius * CTICK_PER_CM;
create.set_total_angle(0);
if(radius == 0)
create_spin_CW(speed);
else {
// create turn byte (decimal): 137
// [137][speed high][speed low][radius high][radius low]
create.write_byte(137);
create.write_int(speed);
create.write_int(-radiusTicks);
}
while(create.get_total_angle() >= -angle);
create.block();
}
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
}
void TurnCW()
{
while(get_create_total_angle(0.1) > -90)
{
create_spin_CW(500);
}
create_stop();
}
/*
* Class: cbccore_low_Create
* Method: create_spin_CW
* Signature: (I)V
*/
JNIEXPORT void JNICALL Java_cbccore_low_Create_create_1spin_1CW(JNIEnv *env, jobject obj, jint speed)
{
#ifdef CBC
create_spin_CW(speed);
#else
printf("Java_cbccore_low_Create_create_1spin_1CW stub\n");
#endif
}
void turn_for(int angle, int speed) {
set_create_total_angle(0);
if (speed > 0) {
while (get_create_total_angle() >-angle) {
create_spin_CW(speed);
}
create_spin_CW(0);
}
else if (speed < 0) {
while (get_create_total_angle() < angle) {
create_spin_CW(speed);
}
create_spin_CW(0);
}
}
/*Function definitions go below.*/
void CenterCamera2() //CAMERA MUST BE AT CENTER OF CREATE, POINTING Right RESPECT TO CREATE
{
if (track_x(0,0) > 81) //if blocks are bd
{
for(create_spin_CCW(100); track_x(0,0) > 81; track_update()){} //WHAT TRACK # IS RED? MAKE SURE IT DOESNT DETECT BOTGUY -- remember to calibrate CBC to blocks
create_stop();
}
if (track_x(0,0) < 78) //if blocks are fd
{
for(create_spin_CW(100); track_x(0,0) < 78; track_update()){} //WHAT TRACK # IS RED? MAKE SURE IT DOESNT DETECT BOTGUY -- remember to calibrate CBC to blocks
create_stop();
}
}
// script to rotate in place through deg degrees
// deg > 0 turn CCW; deg < 0 turn CW
void create_script_turn(int deg, int speed) { // degrees, vel in mm/sec
int sangle, dangle;
create_angle();
sangle=gc_total_angle;
dangle=sangle+deg;
if(deg>0){
create_spin_CCW(speed);
while(gc_total_angle<dangle)create_angle();
}
else{
create_spin_CW(speed);
while(gc_total_angle>dangle)create_angle();
}
create_stop();
}
//generic right angle turn in place
void rightAngle (int direction){
if (direction == RIGHT) {
//then well turn 90 deg to the RIGHT
create_spin_CW(100);
msleep(RIGHT_ANG_RIGHT);
} else if (direction == LEFT) {
//then well turn 90 deg to the LEFT
create_spin_CCW(100);
msleep(RIGHT_ANG_LEFT);
} else {
printf("sorry I don't understand what you want me to do... ignoring right angle turn command\n");
}
create_stop();
}
void turn_while(float s , float a , int d)
{
a *= DEG_TO_RAD;
float t = ((RADIUS * a) / s);
if (d == 1)
{
create_spin_CCW((int)s);
msleep((int)(t * 1000));
}
if (d == -1)
{
create_spin_CW((int)s);
msleep((int)(t * 1000));
}
}
void clearWall()
{
if(TOUCH_BACK_AND) driveAtMmFor(-50,1);
else if(TOUCH_FRONT) driveAtMmFor(50,1);
else if(TOUCH_BACK_OR){
if(TOUCH_BACK_LEFT){
create_spin_CW(50);
while(!TOUCH_BACK_RIGHT){}
create_stop();
}
if(TOUCH_BACK_RIGHT){
create_spin_CCW(50);
while(!TOUCH_BACK_LEFT){}
create_stop();
}
}
}
void TurnCW()
{
#ifdef CREATE
while(get_create_total_angle(0.1) > -90)
{
create_spin_CW(500);
}
create_stop();
#endif
#ifdef CBC
mav(1,500);
mav(0,-500);
sleep(2.5900127);
off(0);
off(1);
#endif
}
int main()
{
create_connect();
float x=.45;
if(black_button() == 1)
{
create_drive_straight(-100);
sleep(10);
create_stop();
}
while(left_button() == 0)
{
while(black_button() == 0)
{
if (a_button() == 1)
{
x=x+.001;
printf("%f\n", x);
sleep(.5);
}
if (b_button() == 1)
{
x=x-.001;
printf("%f\n", x);
sleep(.5);
}
if (up_button() == 1)
{
x=x+.0001;
printf("%f\n", x);
sleep(.5);
}
if (down_button() == 1)
{
x=x-.0001;
printf("%f\n", x);
sleep(.5);
}
}
create_spin_CW(450);
sleep(x);
create_stop();
}
}
int main(int argc, char ** argv)
{
int i;
printf("Connecting...\n");
create_connect();
create_start();
printf("Spinning CW...n");
create_spin_CW(40);
// spin a while CW
for (i = 0; i < 10; ++i)
{
printf("Distance: %d Angle: %d\n", get_create_distance(), get_create_total_angle());
msleep(1000);
}
printf("Spinning CCW...n");
create_spin_CCW(40);
// spin a while CCW
for (i = 0; i < 10; ++i)
{
printf("Distance: %d Angle: %d\n", get_create_distance(), get_create_total_angle());
msleep(1000);
}
printf("Stopping...\n");
create_stop();
printf("Disconnecting...\n");
create_disconnect();
printf("Done.\n");
return 0;
}
void CenterCamera() //CAMERA MUST BE AT CENTER OF CREATE, POINTING Right RESPECT TO CREATE
{
track_update();
if (track_x (0,0) > 81)
{
create_drive_straight(-200);
while (track_x (0,0) > 81) //WHAT TRACK # IS RED? MAKE SURE IT DOESNT DETECT BOTGUY
{
track_update();
}
create_stop();
drivemm(inchestomm(4.9), 1);
set_create_total_angle(0);
create_drive(101.3,1); //uses int. does it round?
sleep(2.057252314);
create_stop();
get_create_total_angle(.1);
printf("asdb");
if (get_create_total_angle(.1) != 90)
{
set_create_total_angle(get_create_total_angle(.1) - 90);
printf("%f\n",get_create_total_angle(.1));
if (get_create_total_angle(.1) > 0) //CCW ADDS TO TOTAL ANGLE
{
create_spin_CW(100);
while (get_create_total_angle(.1) < 0);
{
printf("aeqweqw");
}
create_stop();
}
if (get_create_total_angle(.1) < 0)
{
create_spin_CCW(100);
while (get_create_total_angle(.1) > 0);
{
printf("BBBB");
}
create_stop();
}
}
}
/* (track_x (0,0) < 79)
{
create_drive_straight(200);
while (track_x (0,0) < 79)
{
track_update();
}
create_stop();
beep();
set_create_distance(0);
drivemm(-inchestomm(5), 1);
create_drive(206.972051,1);
sleep(1);
create_stop();
create_drive_straight(-200);
while(digital(8 == 0))
{
}
create_stop();
}*/
}
int main()
{
int stupid_int = 0;
int value = 0;
int i = 0;
int angle_of_pole = 90;
camera_open(LOW_RES);
camera_update();
create_connect();
set_create_total_angle(0);
value = get_create_total_angle();
printf("Angle is %d\n", value);
//------------------------
// part 1: spin until past all booster sections
while(get_create_total_angle() > -85){
create_spin_CW(75);
}
//---------------------
//end part 1
camera_update();
sleep(2);
point2 mcenter = get_object_center(1,0);
set_servo_position(0,OPEN_POSITION); //this is opening the claw so it won't go to a random position when enabling the servos
enable_servos();
//--------------------------------------
// part 2: find booster section using function i wrote at bottom of code then line up with B2(pole)
find_item();
printf("I saw a booster section!\n");
while(digital(10) == 0) {
create_drive_straight(-50);
if(digital(10) == 1){
create_stop();
}
}
while(stupid_int == 0) {
if (digital(10) == 1){
set_servo_position(0,CLOSE_POSITION_FOR_BOOSTER_SECTIONS);
stupid_int == 1;
msleep(200);
printf("I have grabbed a booster section!\n");
}
}
move_to_position(0, -900, UPPOSITION);
set_create_total_angle(0);
while(get_create_total_angle() < angle_of_pole){
create_spin_CCW(75);
}
//---------------------
//end part 2
set_create_total_angle(0);
// part 3: go forward until i find B2 (not complete)
set_servo_position(1,OPEN_POSITION);
angle_of_pole = 60;
//end part 3
//part 4: repeat everything
/*while(get_create_total_angle() > -80){
create_spin_CW(75);
}
//---------------------
//end part 1
camera_update();
sleep(2);
point2 mcenter = get_object_center(0,0);
set_servo_position(0,OPEN_POSITION); //this is opening the claw so it won't go to a random position when enabling the servos
//--------------------------------------
// part 2: find booster section using function i wrote at bottom of code then line up with B2(pole)
find_item();
printf("I saw a booster section!\n");
while(digital(10) == 0) {
create_drive_straight(-50);
if(digital(10) == 1){
create_stop();
}
}
while(stupid_int == 0) {
if (digital(10) == 1){
set_servo_position(0,CLOSE_POSITION_FOR_BOOSTER_SECTIONS);
stupid_int == 1;
msleep(200);
printf("I have grabbed a booster section!\n");
}
}
move_to_position(0, -900, UPPOSITION);
set_create_total_angle(0);
while(get_create_total_angle() < angle_of_pole){
create_spin_CCW(75);
}
//---------------------
//end part 2
set_create_total_angle(0);
// part 3: go forward until i find B2 (not complete)
set_servo_position(1,OPEN_POSITION);
angle_of pole = 50;
//end part 3
while(get_create_total_angle() > -70){
create_spin_CW(75);
}
//---------------------
//end part 1
camera_update();
sleep(2);
point2 mcenter = get_object_center(0,0);
set_servo_position(0,OPEN_POSITION); //this is opening the claw so it won't go to a random position when enabling the servos
//--------------------------------------
// part 2: find booster section using function i wrote at bottom of code then line up with B2(pole)
find_item();
printf("I saw a booster section!\n");
while(digital(10) == 0) {
create_drive_straight(-50);
if(digital(10) == 1){
create_stop();
}
}
while(stupid_int == 0) {
if (digital(10) == 1){
set_servo_position(0,CLOSE_POSITION_FOR_BOOSTER_SECTIONS);
stupid_int == 1;
msleep(200);
printf("I have grabbed a booster section!\n");
}
}
move_to_position(0, -900, UPPOSITION);
set_create_total_angle(0);
while(get_create_total_angle() < angle_of_pole){
create_spin_CCW(75);
}
//---------------------
//end part 2
set_create_total_angle(0);
// part 3: go forward until i find B2 (not complete)
set_servo_position(1,OPEN_POSITION);
angle_of pole = 50;
//end part 3
while(get_create_total_angle() > -100){
create_spin_CW(75);
}
//---------------------
//end part 1
camera_update();
sleep(2);
point2 mcenter = get_object_center(0,0);
set_servo_position(0,OPEN_POSITION); //this is opening the claw so it won't go to a random position when enabling the servos
//--------------------------------------
// part 2: find booster section using function i wrote at bottom of code then line up with B2(pole)
find_item();
printf("I saw a booster section!\n");
while(digital(10) == 0) {
create_drive_straight(-50);
if(digital(10) == 1){
create_stop();
}
}
while(stupid_int == 0) {
if (digital(10) == 1){
set_servo_position(0,CLOSE_POSITION_FOR_BOOSTER_SECTIONS);
stupid_int == 1;
msleep(200);
printf("I have grabbed a booster section!\n");
}
}
move_to_position(0, -900, UPPOSITION);
set_create_total_angle(0);
while(get_create_total_angle() < angle_of_pole){
create_spin_CCW(75);
}
//---------------------
//end part 2
set_create_total_angle(0);
// part 3: go forward until i find B2 (not complete)
set_servo_position(1,OPEN_POSITION);
angle_of pole = 40;
//end part 3
while(get_create_total_angle() > -60){
create_spin_CW(75);
}
//---------------------
//end part 1
camera_update();
sleep(2);
point2 mcenter = get_object_center(0,0);
set_servo_position(0,OPEN_POSITION); //this is opening the claw so it won't go to a random position when enabling the servos
//--------------------------------------
// part 2: find booster section using function i wrote at bottom of code then line up with B2(pole)
find_item();
printf("I saw a booster section!\n");
while(digital(10) == 0) {
create_drive_straight(-50);
if(digital(10) == 1){
create_stop();
}
}
while(stupid_int == 0) {
if (digital(10) == 1){
set_servo_position(0,CLOSE_POSITION_FOR_BOOSTER_SECTIONS);
stupid_int == 1;
msleep(200);
printf("I have grabbed a booster section!\n");
}
}
move_to_position(0, -900, UPPOSITION);
set_create_total_angle(0);
while(get_create_total_angle() < angle_of_pole){
create_spin_CCW(75);
}
//---------------------
//end part 2
set_create_total_angle(0);
// part 3: go forward until i find B2 (not complete)
set_servo_position(1,OPEN_POSITION);
angle_of pole = 60;
//end part 3*/
//end part 4
}
int turnr(x)
{
create_spin_CW(x);
}
int main(int argc, char** argv) {
enable_servo(kServoPortSorter);
set_servo_position(kServoPortSorter, kServoPositionSorterCenter);
clear_motor_position_counter(kMotorPortBayLeft);
clear_motor_position_counter(kMotorPortBayRight);
create_connect();
camera_open(LOW_RES);
scanf("%s", NULL);
printf("waiting for light\n");
while (analog(0) > 200) {}
shut_down_in(700000);
motor(kMotorPortBayLeft, 10);
motor(kMotorPortBayRight, 10);
while (get_motor_position_counter(kMotorPortBayLeft) < 230 || get_motor_position_counter(kMotorPortBayRight) < 230) {
printf("pos: %i/%i\n", get_motor_position_counter(kMotorPortBayLeft), get_motor_position_counter(kMotorPortBayRight));
}
motor(kMotorPortBayLeft, 0);
motor(kMotorPortBayLeft, 0);
// wait_for_side_button();
msleep(6000);
create_drive_straight(200);
msleep(1850);
create_spin_CCW(200);
msleep(750);
create_drive_straight(-200);
msleep(1500);
create_spin_CW(200);
msleep(1750);
create_drive_straight(200);
while (!get_create_lbump() && !get_create_rbump()) {}
create_drive_straight(-150);
msleep(900);
create_spin_CCW(200);
msleep(950);
create_drive_straight(150);
while (!get_create_lbump() && !get_create_rbump()) {}
create_stop();
msleep(10000);
thread all_off = thread_create(wait_for_kill);
thread_start(all_off);
raise_bay();
create_spin_CW(100);
msleep(500);
create_drive_straight(-100);
msleep(1000);
create_stop();
thread jiggle_c = thread_create(jiggle_create);
thread_start(jiggle_c);
thread sort_b = thread_create(sort_balls);
thread_start(sort_b);
msleep(33000);
while (true) {}
/*thread_destroy(jiggle_c);
create_stop();
lower_bay();
create_drive_straight(100);
while (!get_create_lbump() && !get_create_rbump()) {}
create_stop();
msleep(10000);
raise_bay();
create_spin_CW(100);
msleep(500);
create_drive_straight(-100);
msleep(1000);
create_stop();
thread_create(jiggle_create);
thread_start(jiggle_c);
thread_create(sort_balls);
while (true) {}
camera_close();*/
return 0;
}
//main stuff haha
int main()
{
int claw = 1; //claw port
int arm = 0; //arm port
create_connect();
printf("create connected");
set_create_total_angle(0);
//create setup
turn_for(10, -200); //Turns the create around
//does some important stuff
create_drive_direct(-100, -100);
set_servo_position(claw, 1561);
enable_servos();
msleep(300);
set_servo_position(arm, 1850); //arm down
msleep(500);
set_servo_position(claw, 1000);
msleep(500);
set_servo_position(arm, 1643); //grabs ball
msleep(500);
turn_for(36, 200); //spins onto first black path to line follow later
msleep(500);
forward_for(50, -100); //moves forward onto the black line
line_follow(blackThresh , 212); //starts following the black line
set_servo_position(claw, 1561); //drops ball
//dropped ball already
msleep(400);
forward_for(500, 100); //back it up back it up
set_servo_position(arm, 245); //holds the arm up
msleep(100);
set_create_distance(0);
set_create_total_angle(0);
while (get_create_total_angle() > -10) { //spins itself onto the angle of other black line
create_spin_CW(200);
}
create_spin_CW(0); //stops spinning
msleep(1500);
create_drive_direct(-200, -200); //goes onto the black line to line follow later
msleep(1000);
create_drive_direct(0,0); //stops itself
msleep(500);
set_create_total_angle(0);
while (get_create_total_angle() > -3) { //angles itself a little bit
create_spin_CW(200);
}
create_spin_CW(0); //stops spinning
msleep(400);
create_drive_direct(-200, -200); //Drives forward a little bit to the next black line
msleep(1500);
create_drive_direct(0,0);
set_create_total_angle(0);
while (get_create_total_angle() > -7) { //Angles itself so it can drive in the middle
create_spin_CW(200);
}
create_spin_CW(0); //stops spinning
create_drive_direct(-230,-230); //Drives itself into the middle lane
msleep(4000);
create_drive_direct(0,0); //Reset stuff
set_create_total_angle(0);
while(analog(0) < blackThresh) { //Align itself using line following in the middle lane
create_spin_CW(50);
printf("Value is %d \n", analog(0));
if(digital(0) >= blackThresh) {
printf("I have found the middle black line!");
create_spin_CW(1); //Angle itself so it is exactly on the black line
}
}
create_spin_CW(0); //resets something for some reason why is this here?
set_servo_position(claw, 1561); //grabs the red cube
msleep(200);
set_servo_position(arm, 1984);
msleep(500);
set_servo_position(claw, 1144);
msleep(500);
return 0;
}
wiggleCreateRight() {
create_spin_CW(300);
sleep(.15);
create_stop();
}
