task main()
{
bFloatConversionErrors=true;
displayTextLine(0, "HT Gyro");
displayTextLine(1, "Test task");
displayTextLine(5, "Press enter");
displayTextLine(6, "to set relative");
displayTextLine(7, "heading");
sleep(2000);
eraseDisplay();
startTask(gyro_loop);
while(true)
{
if(getXbuttonValue(xButtonEnter))
{
gyro_loop_state = CALIBRATION;
sleep(2000);
}else if(getXbuttonValue(xButtonLeft))
{
gyro_loop_state = STOPPED;
while(gyro_loop_state!=STOPPED)
sleep(2000);
stopTask(gyro_loop);
}else if(getXbuttonValue(xButtonRight))
{
startTask(gyro_loop);
}else
{
sleep(1000);
}
}
}
// main task
task main ()
{
displayCenteredTextLine(0, "HiTechnic");
displayCenteredBigTextLine(1, "IR Seekr");
displayCenteredTextLine(3, "Test 1");
displayCenteredTextLine(5, "Press enter to");
displayCenteredTextLine(6, "switch between");
displayCenteredTextLine(7, "600 and 1200 Hz");
sleep(2000);
// Create struct to hold sensor data
tHTIRS2 irSeeker;
// Initialise and configure struct and port
initSensor(&irSeeker, S1);
while(true)
{
// You can switch between the two different DSP modes by pressing the
// orange enter button
playSound(soundBeepBeep);
while(bSoundActive)
{}
eraseDisplay();
// display the current DSP mode
if (irSeeker.mode == DSP_1200)
displayTextLine(0, " DC 1200");
else
displayTextLine(0, " DC 600");
while (true)
{
if (getXbuttonValue(xButtonEnter))
{
// "Enter" button has been pressed. Need to switch mode
irSeeker.mode = (irSeeker.mode == DSP_1200) ? DSP_600 : DSP_1200;
while(getXbuttonValue(xButtonEnter))
{
sleep(1);
}
break;
}
// Read the sensor data.
readSensor(&irSeeker);
displayTextLine(1, "D:%4d %4d 3%d", irSeeker.dcDirection, irSeeker.acDirection, irSeeker.enhDirection);
displayTextLine(2, "0:%4d %d", irSeeker.dcValues[0], irSeeker.acValues[0]);
displayTextLine(3, "0:%4d %4d", irSeeker.dcValues[1], irSeeker.acValues[1]);
displayTextLine(4, "0:%4d %4d %3d", irSeeker.dcValues[2], irSeeker.acValues[2], irSeeker.enhStrength);
displayTextLine(5, "0:%4d %4d", irSeeker.dcValues[3], irSeeker.acValues[3]);
displayTextLine(6, "0:%4d %4d", irSeeker.dcValues[4], irSeeker.acValues[4]);
displayTextLine(7, "Enter to switch");
}
}
}
task main () {
displayTextLine(0, "HT Gyro");
displayTextLine(1, "Test 1");
displayTextLine(5, "Press enter");
displayTextLine(6, "to set relative");
displayTextLine(7, "heading");
sleep(2000);
eraseDisplay();
// Create struct to hold sensor data
tHTGYRO gyroSensor;
// Initialise and configure struct and port
initSensor(&gyroSensor, S1);
time1[T1] = 0;
while(true) {
if (time1[T1] > 1000) {
eraseDisplay();
displayTextLine(1, "Resetting");
displayTextLine(1, "offset");
sleep(500);
// Start the calibration and display the offset
sensorCalibrate(&gyroSensor);
displayTextLine(2, "Offset: %f", gyroSensor.offset);
playSound(soundBlip);
while(bSoundActive) sleep(1);
time1[T1] = 0;
}
while(!getXbuttonValue(xButtonEnter)) {
eraseDisplay();
displayTextLine(1, "Reading");
// Read the current rotational speed
readSensor(&gyroSensor);
// Read the current calibration offset and display it
displayTextLine(2, "Offset: %4f", gyroSensor.offset);
displayClearTextLine(4);
// Read the current rotational speed and display it
displayTextLine(4, "Gyro: %4f", gyroSensor.rotation);
displayTextLine(6, "Press enter");
displayTextLine(7, "to recalibrate");
sleep(100);
}
}
}
task main() {
short raw = 0;
short nrm = 0;
bool active = true;
// Turn the light on
LSsetActive(LEGOLS);
displayCenteredTextLine(0, "Lego");
displayCenteredBigTextLine(1, "LIGHT");
displayCenteredTextLine(3, "SMUX Test");
displayCenteredTextLine(5, "Connect SMUX to");
displayCenteredTextLine(6, "S1 and sensor to");
displayCenteredTextLine(7, "SMUX Port 1");
sleep(2000);
displayClearTextLine(7);
displayTextLine(5, "Press [enter]");
displayTextLine(6, "to toggle light");
sleep(2000);
while (true) {
// The enter button has been pressed, switch
// to the other mode
if (getXbuttonValue(xButtonEnter))
{
active = !active;
if (!active)
LSsetInactive(LEGOLS);
else
LSsetActive(LEGOLS);
// wait 500ms to debounce the switch
sleep(500);
}
displayClearTextLine(5);
displayClearTextLine(6);
raw = LSvalRaw(LEGOLS);
nrm = LSvalNorm(LEGOLS);
displayTextLine(5, "Raw: %4d", raw);
displayTextLine(6, "Norm: %4d", nrm);
sleep(50);
}
}
task main () {
displayCenteredTextLine(0, "HiTechnic");
displayCenteredBigTextLine(1, "MAGNETIC");
displayCenteredTextLine(3, "Field Sensor");
displayCenteredTextLine(4, "SMUX Test");
displayCenteredTextLine(5, "Connect SMUX to");
displayCenteredTextLine(6, "S1 and sensor to");
displayCenteredTextLine(7, "SMUX Port 1");
sleep(2000);
displayCenteredTextLine(5, "Press enter");
displayCenteredTextLine(6, "to set bias");
sleep(2000);
eraseDisplay();
// Create struct to hold sensor data
tHTMAG magneticSensor;
// The sensor is connected to the first port
// of the SMUX which is connected to the NXT port S1.
// To access that sensor, we must use msensor_S1_1. If the sensor
// were connected to 3rd port of the SMUX connected to the NXT port S4,
// we would use msensor_S4_3
// Initialise and configure struct and port
initSensor(&magneticSensor, msensor_S1_1);
while(true) {
eraseDisplay();
displayTextLine(1, "Resetting");
displayTextLine(2, "bias");
sleep(500);
// Start the calibration and display the offset
sensorCalibrate(&magneticSensor);
displayTextLine(2, "Bias: %4d", magneticSensor.bias);
playSound(soundBlip);
while(bSoundActive) sleep(1);
while(getXbuttonValue(xButtonAny)) sleep(1);
while(!getXbuttonValue(xButtonEnter)) {
eraseDisplay();
// Read the sensor data
readSensor(&magneticSensor);
displayTextLine(1, "Reading");
// Display the current calibration value
displayTextLine(2, "Bias: %4d", magneticSensor.bias);
displayClearTextLine(4);
// Display the current magnetic field strength
displayTextLine(4, "Mag: %4d", magneticSensor.strength);
displayTextLine(6, "Press enter");
displayTextLine(7, "to recalibrate");
sleep(100);
}
}
}
