/*Uses a series of movemnts to make a square*/
void square(){
forward();
turnr();
forward();
turnr();
forward();
turnr();
forward();
turnr();
}
int main()
{
create_connect();
go(457.2,250);
resetd();
while (get_create_total_angle(10) < 90)
{turnl(250);}
reseta();
go(457.2,250);
resetd();
while (get_create_total_angle(10) > -90)
{turnr(250);}
reseta();
go(250,250);
while (get_create_total_angle(10) > -90)//Riddhi..your job is to write a
//function like mine, go, that makes an easy command to turn the robot.
{turnr(250);}
reseta();
go(400,250);
resetd();
motor(3,50);
sleep(1.5);//this is to lower the cage thing for the green
//and pink containers. might have to go forward or backward.
go(-400,250);//to go backwards
resetd();
while (get_create_total_angle(10) < 90)
{turnl(250);}
reseta();
go(-457.2,250);
resetd();
//need help with steps 13-21 on the pseudocode.
while (analog(2) < 100)
{create_drive_straight(250);} //to raise the cage, and leave the filled containers of luggage.
motor(3,50);
sleep(1.5);
enable_servos();
get_servo_position(2);
if (get_servo_position(2) > 1023)
{set_servo_position(2,get_servo_position(2)-1023);}
if (get_servo_position(2) < 1023)
{set_servo_position(2,get_servo_position(2)+1023);}
}
int main() {
printf("Online%\n\r");
wait_ms(500);
w1_cha.fall(&count_w1_a);
w1_chb.fall(&count_w1_b);
w2_cha.fall(&count_w2_a);
w2_chb.fall(&count_w2_b);
/* test maneuvers */
forward();
backward();
turnr();
turnl();
turnl();
square();
while(1) {
if (w1_count_a != w1_dif_a){
w1_dif_a = w1_count_a;
printf("w1 count a = %d\n\r", w1_dif_a);
}
if (w1_count_b != w1_dif_b){
w1_dif_b = w1_count_b;
printf("w1 count b = %d\n\r", w1_dif_b);
}
if (w2_count_a != w2_dif_a){
w2_dif_a = w2_count_a;
printf("w2 count a = %d\n\r", w2_dif_a);
}
if (w2_count_b != w2_dif_b){
w2_dif_b = w2_count_b;
printf("w2 count b = %d\n\r", w2_dif_b);
}
myled = !myled;
}
}