Пример #1
0
int main()
{
	set_each_analog_state(0,0,0,1,0,0,0,0);
	WhichSide();
	SetArm();
	Start();
	Cubes();	
}
Пример #2
0
int main() {
	set_each_analog_state(0,1,0,0,0,0,0,0);
	create_connect();
	enable_servos();
	armPosSB();
	clawSB();
	//seedReturn();
	seed();
}
Пример #3
0
int main()
{
	set_each_analog_state(0,0,0,0,0,0,0,0);// This line sets analog ports to be pullup (0) or floating (1)
	//variable declarations go here.
	
	// uncomment the line below to have the rest of the program wait for the starting light to turn on
	//wait_for_light(port_number);//replace "port_number" with the analog port number into which the light sensor is connected
	
	// uncomment the line below to have a function run for a specified amount of seconds
	//run_for(num_secs, function_name);//replace num_secs with the amount of time to run and function_name with your function's name
}
Пример #4
0
void main()
{
	create_connect();
	enable_servos();
	set_each_analog_state(1,1,0,0,0,0,0,0);
	initialize();
	armPosBlockStack2();
	clawStack2();
	clawOpen();
	create_drive_straight(300);
	run_for(3, clawGrab);
	create_stop();
	clawGrab();
}
Пример #5
0
int main()
{
    int port_1 = 6;
    int port_2 = 2;
    set_each_analog_state(1,1,1,1,1,1,0,0);
    while(!black_button())
    {
        //cbc_display_clear();
        //printf("    see_bar(%d): %d\n",14,see_bar(14));
        //printf("    see_bar(%d): %d\n",15,see_bar(15));
        //printf("bar sensor (%d): %d\n",port_1, bar_sensor(14, 15));
        //printf("analog to inches (%d): %f\n",port_1,analog(port_1));
        printf("analog to inches (%d): %f\n",port_2, analog_to_inches_avg(port_2,10));
        sleep(.3);
    }
}
Пример #6
0
int main()
{
	set_each_analog_state(0,0,0,1,0,0,0,0);// This line sets analog ports to be pullup (0) or floating (1)
	create_connect();
	enable_servos();
	set_create_total_angle(0);
	set_create_distance(0);
	//AUO=start_process(ArmUpOpen);
	ArmUp();
	set_servo_position(
	sleep(3);
	CenterCamera();
	create_drive_straight(-200);
	while(digital(8) != 1)
	{}
	create_stop();
	sleep(1);
	ArmDownClose();
	sleep(3);
	beep();
	create_drive_straight(200);
	sleep(2);
	create_stop();
}
Пример #7
0
int main()
{
	enable_servos();
	create_connect();
	set_each_analog_state(1,0,0,0,0,0,0,0);
	/*
	while(up_button()==0)
	{
	while(black_button() ==0) {}
	clawSB();
	armPosSB();
	while(black_button() ==0) {}
	clawGrab();
	clawOpen();
	armPosBlockGrab();
	while(black_button() ==0) {}
	clawClose();
	while(black_button() ==0) {}
	armPosBlockStack1();
	clawStack1();
	while(black_button() ==0) {}
	clawOpen();
	while(black_button() ==0) {}
	clawGrab();
	armPosBlockGrab();
	while(black_button() ==0) {}
	clawClose();
	while(black_button() ==0) {}
	/*set_servo_position(SERVO_ARM_LEFT_PORT, SERVO_ARM_LEFT_STACK2);
	set_servo_position(SERVO_ARM_RIGHT_PORT, SERVO_ARM_RIGHT_STACK2);
	set_servo_position(SERVO_CLAW_LEFT_PORT, SERVO_CLAW_LEFT_STACK2);
	set_servo_position(SERVO_CLAW_RIGHT_PORT, SERVO_CLAW_RIGHT_STACK2);
	sleep(2);
	armPosBlockStack2();
	clawStack2();
	while(black_button() ==0) {}
	clawOpen();
	}*/

	//reach first blocks
	armPosBlockStack1();
	clawStack1();
	clawOpen();
	detectBlock();
	//back up
	backFromTouch(0);
	//arm to correct pos
	armPosBlockGrab();
	clawGrab();
	//scoot up and grab
	scootUp(0);
	clawClose();  
	while(black_button() == 0) {}
	driveAtMmFor(200, 2);
	//drive with arm a bit up, place first pair of cubes
	armPosBlockStack1();
	clawStack1();
	detectPVC();
	set_servo_position(SERVO_ARM_LEFT_PORT, SERVO_ARM_LEFT_GRAB+300);
	set_servo_position(SERVO_ARM_RIGHT_PORT, SERVO_ARM_RIGHT_GRAB-300);
	set_servo_position(SERVO_CLAW_LEFT_PORT, SERVO_CLAW_LEFT_GRAB+100);
	set_servo_position(SERVO_CLAW_RIGHT_PORT, SERVO_CLAW_RIGHT_GRAB-100);
	backFromTouch(1);
	//correct pos
	armPosBlockGrab();
	clawGrab();
	//scoot up
	scootUp(1);
	clawOpen();
	driveAtMmFor(200, 2);
	while(black_button() == 0) {}
	clawClose();
	//drive with arm a bit up, place second pair on top of first
	armPosBlockStack1();
	clawStack1();
	set_servo_position(SERVO_ARM_LEFT_PORT, SERVO_ARM_LEFT_STACK1+300);
	set_servo_position(SERVO_ARM_RIGHT_PORT, SERVO_ARM_RIGHT_STACK1-300);
	set_servo_position(SERVO_CLAW_LEFT_PORT, SERVO_CLAW_LEFT_STACK1+200);
	set_servo_position(SERVO_CLAW_RIGHT_PORT, SERVO_CLAW_RIGHT_STACK1-200);
	detectBlock();
	backFromTouch(2);
	//correct pos
	clawStack1();
	armPosBlockStack1();
	clawOpen();
	driveAtMmFor(200, 2);
	armPosBlockGrab();
	clawGrab();
	while(black_button() == 0) {}
	clawClose();
	armPosBlockStack2();
	clawStack2();
	detectPVC();
	backFromTouch(3);
	clawOpen();
	driveAtMmFor(200, 2);
}