task main() {
// Prompt for delay
int delay = promptDelay();
// Localize external robot references
configureSensors(sensorIR, sensorSonar);
configureMotors(motorDriveLeft, motorDriveRight, motorArmPitch, motorElevator);
configureServos(servoArmGripper);
// Initialize
initialize();
// Wait for the FCS start signal
waitForStart();
// Wait the designated time
wait1Msec(delay*1000);
// Initial arm upwards movement
motor[refMotorArmPitch] = 75;
wait1Msec(1000);
motor[refMotorArmPitch] = 0;
// Start collision avoidance subsystem
StartTask(collisionAvoidance);
// Run autonomous B
autonomousB();
}
void main(void)
{
WDTCTL = WDTPW + WDTHOLD; // Stop WDT
configureMotors();
configureBluetooth();
state = INIT;
__bis_SR_register(LPM0_bits + GIE); // Enter LPM0, interrupts enabled
__no_operation(); // For debugger
}
task main() {
// Configuration functions in AutonomousV2-COM to allow interface from another file
configureMotors(motorRight, motorLeft);
configureSensors(sensorIR, sensorUltrasonic, sensorLight);
// Common initialization
initialize();
// Wait for FCS signal
waitForStart();
// Begin autonomous routine
routineA1();
}
