Пример #1
0
/*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);}
	

}
Пример #3
0
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;
    }
}