//----main----// task main () { Delete(sFileName1, nIoResult); Delete(sFileName2, nIoResult); nxtDisplayCenteredTextLine(3, "Roaming"); nxtDisplayCenteredTextLine(5, "This is a test"); initialisePose(); //set up iterate(stepSize); //run excitation etc currentDirection = 0; //set initial currentTheta = 0; setTemp(); //get local view checkLocalCell(); //create first association datalogging(); sumPoseStruct(); while(1) { alive(); //stop NXT from sleeping float centreSonarValue = SensorValue(centreSonar); if(centreSonarValue<19) { doTurn(); pose3D(changeTheta,0); } else { drive(100,180,50); pose3D(changeTheta,0.5); } sumPoseStruct(); setTemp(); checkLocalCell(); //store data datalogging(); clearEncoders(); //clear encoder count changeTheta=0; } SaveNxtDatalog(); PlaySound(soundException); while(bSoundActive){} }
//----main----// task main () { nxtDisplayCenteredTextLine(3, "Pose Test"); wait1Msec(500); initialisePose(); //set up iterate(stepSize); //run excitation etc currentDirection = 0; //set initial currentTheta = 0; changeTheta = 0; //display data displayMax(); nxtDisplayTextLine(2, "Num Act.: %3d",numActive); nxtDisplayTextLine(4, "Direction: %1d", currentDirection); nxtDisplayTextLine(5, "currentTheta:%3d", currentTheta); nxtDisplayTextLine(6, "changeTheta:%3d", changeTheta); datalogging(); while(totalClicks<1800) { alive(); //stop NXT from sleeping totalClicks += clicks; //drive(-100,190,50); // drive(50,180,50); pose3D(changeTheta,0.5); displayMax(); nxtDisplayTextLine(2, "Num Act.: %3d",numActive); nxtDisplayTextLine(4, "Direction: %1d", currentDirection); nxtDisplayTextLine(5, "currentTheta:%3d", currentTheta); nxtDisplayTextLine(6, "changeTheta:%3d", changeTheta); clearEncoders(); //clear encoder count changeTheta=0; datalogging(); } PlaySound(soundFastUpwardTones); while(bSoundActive) {} SaveNxtDatalog(); }
task main() { servoChangeRate[flagRaiserExtender] = 5; servoChangeRate[blockBlocker] = 8; servo[flagRaiserExtender] = 220; servo[wrist] = 90; servo[blockBlocker] = 30; servo[autoArm] = 145; servo[autoBlock] = 200; waitForStart(); //servo[flagRaiserExtender] = 0; while (true) { bFloatDuringInactiveMotorPWM = false; getJoystickSettings(joystick); driver(); arm(); datalogging(); // RobotC function for keeping the robot on //alive(); } }