void
runtime·racegostart(int32 goid, void *pc)
{
m->racecall = true;
runtime∕race·GoStart(g->goid-1, goid-1, pc);
m->racecall = false;
}
uintptr
runtime·racegostart(void *pc)
{
uintptr racectx;
m->racecall = true;
runtime∕race·GoStart(g->racectx, &racectx, pc);
m->racecall = false;
return racectx;
}
task main()
{
int count=0;
int direction=1;
int end=0;
int doubleline=0;
int pause=0;
//open the file to write
fileHandle=fileOpenWrite(filename);
//turn right go forward until hit double line go back half a square then turn left You are at bottom left sq now
RightTurn();
while(pause==0)
{
motor(motorB)=SPEED;
motor(motorC)=SPEED;
wait1Msec(1);
if(SensorValue(S3)<45&&doubleline!=1)
{
if(time1[T1]<200)
{
pause=1;
}
doubleline=1;
}
if(SensorValue(S3)>45&&doubleline==1)
{
doubleline=0;
clearTimer(T1);
}
}
motor[motorB]=-20;
motor[motorC]=-20;
wait1Msec(700);
LeftTurn();
//start traversing grid
while(end!=7)
{
//traverse right and count lines
if(direction==1)
{
end++;
while(count<8)
{
if(SensorValue(S3)<45)
{
blacksq++;
//store position to array
grid[pos1][pos2]='1';
}
//increment counters
count++;
total++;
displayBigTextLine(2,"Black:%d",blacksq);
displayBigTextLine(5,"Count:%d ",count);
displayBigTextLine(8,"Total:%d",total);
//move forward one square
Forward();
pos2++;
}
//Switches to next line
if(end!=7)
{
direction=NextLineLeft(direction);
//Resets count
count=ResetCount(count);
pos1++;
}
}
if(direction==2)
{
end++;
while(count<8)
{
if(SensorValue(S3)<45)
{
blacksq++;
//store position to array
grid[pos1][pos2]='1';
}
//increment counters
count++;
total++;
displayBigTextLine(2,"Black:%d",blacksq);
displayBigTextLine(5,"Count:%d ",count);
displayBigTextLine(8,"Total:%d",total);
//move forward one square
Forward();
pos2--;
}
//Switches to next line
if(end!=7)
{
//Switches to next line
direction=NextLineRight(direction);
//Resets count
count=ResetCount(count);
pos1++;
}
}//end if()
}//end while()
checkarray();
//Goes back to the start function
GoStart();
//THIS IS THE SECOND PART OF THE PROGRAM TO MAP THE LOCATION OF THE OBJECT
while(1==1)
{
if(getTouchValue(S2)==1)
{
//reset all values
pos1=0;
pos2=0;
count=0;
direction=1;
end=0;
while(end!=7)
{
//traverse right and count lines
if(direction==1)
{
end++;
while(count<8)
{
//check to see if there is an object 140mm away
if(getUSDistance(S1)<14)
{
grid[pos1][pos2]='J';
motor[motorB]=0;
motor[motorC]=0;
wait1Msec(1000000);
}
//increment counters
count++;
Forward();
pos2++;
}
//Switches to next line
if(end!=7)
{
direction=NextLineLeft(direction);
//Resets count
count=ResetCount(count);
pos1++;
}
}
if(direction==2)
{
//check to see if there is an object 140mm away
end++;
while(count<8)
{
if(getUSDistance(S1)<14)
{
grid[pos1][pos2]='J';
motor[motorB]=0;
motor[motorC]=0;
wait1Msec(1000000);
}
//increment counters
count++;
//move forward one square
Forward();
pos2--;
}
//Switches to next line
if(end!=7)
{
//Switches to next line
direction=NextLineRight(direction);
//Resets count
count=ResetCount(count);
pos1++;
}
}//end if()
}//end while()
} }//end if()
}//end main()
