void sort_balls(void) {
start_spinner();
while (!side_button()) {
msleep(50);
camera_update(); camera_update();
if (get_object_count(kCameraChannelOrange) > 0 && get_object_confidence(kCameraChannelOrange, 0) >= 0.95 && get_object_area(kCameraChannelOrange, 0) > 500) {
stop_spinner();
set_servo_position(kServoPortSorter, kServoPositionSorterOrange);
msleep(200);
set_servo_position(kServoPortSorter, kServoPositionSorterCenter);
msleep(200);
start_spinner();
} else if (get_object_count(kCameraChannelGreen) > 0 && get_object_confidence(kCameraChannelGreen, 0) >= 0.95 && get_object_area(kCameraChannelGreen, 0) > 500) {
stop_spinner();
set_servo_position(kServoPortSorter, kServoPositionSorterGreen);
msleep(200);
set_servo_position(kServoPortSorter, kServoPositionSorterCenter);
msleep(200);
start_spinner();
}
}
alloff();
}
int main()
{
int lspeed = 10;
int hspeed = 80;
camera_open(LOW_RES);
while (side_button() == 0)
{
camera_update();
if (get_object_center(0 , 0).x < 45)
{
motor(1 , lspeed);
motor(3 , hspeed);
printf("LEFT\n");
}
if (get_object_center(0 , 0).x > 115)
{
motor(1 , hspeed);
motor(3 , lspeed);
printf("RIGHT\n");
}
if (get_object_center(0 , 0).x >= 45 && get_object_center(0 , 0).x <= 115)
{
motor(1 , hspeed);
motor(3 , hspeed);
printf("CENTER\n");
}
}
return 0;
}
int main()
{
printf("Hello, World!\n");
set_a_button_text("Some button a");
set_b_button_text("That other button");
set_c_button_text("Useless button");
create_connect();
printf("The buttons have been renamed.\n Deal with it.\n Press button 'some button' &\n 'That other button' for beeps.\n 'Useless button' stops the beeps.\n");
while (side_button() ==0){
if (a_button() == 1){// can hold for continuous beeps
printf("beep\n");
beep();
msleep(500);
}
else if (b_button_clicked() == 1){// must release button
printf("beep-beep\n");
beep();
msleep(300);
beep();
}
else {
printf("No button pressed.\n");
}
}
printf("I quit");
create_disconnect();
return 0;
}
int main()
{
create_connect();
while (side_button() == 0)
{
line_follow();
msleep(10);
}
create_disconnect();
return 0;
}
int main(int argc, char** argv) {
clear_motor_position_counter(1);
clear_motor_position_counter(2);
motor(1, 30);
motor(2, 30);
while (!side_button()) {
printf("pos: %i/%i\n", get_motor_position_counter(1), get_motor_position_counter(2));
msleep(10);
}
alloff();
return 0;
}
void wait_for_kill(void) {
while (!side_button()) {}
alloff();
motor(0, 0);
motor(1, 0);
motor(2, 0);
motor(3, 0);
alloff();
disable_servos();
create_drive_direct(0, 0);
create_stop();
create_disconnect();
exit(0);
}
int main()
{
//while the a button isn't pressed
int x, y, color=0; //sets all variables to 0
camera_open(LOW_RES);
while(side_button()==0)
{
//sets camera to lowest resolution for minimal lag
//camera takes a picture
if(get_object_count(color) > 0) // If the right color is detected, run this code
{
x = get_object_center(color,0).x;
y = get_object_center(color,0).y; //x and y variables now represent x and y coordinates of the biggest color blob
if(x>80) //if the x coordinate is on the right
{
printf("The biggest blob is on the right and the coordinates are (%d,%d)", x ,y); //prints the words
}
if(x<80) //if x is on th left
{
printf("The biggest blob is on the left and the coordinates are (%d,%d)" , x ,y); //print the words
}
else
{
printf("no object in sight");
}
camera_update();
}
}
}
void wait_for_side_button(void) {
while (!side_button()) {}
while (side_button()) {}
}
int main()
{
set_a_button_text("pipe jumping");
set_b_button_text("center drive");
set_c_button_text("testing");
int strategy;
WAIT(a_button()||b_button()||c_button());
if(a_button())
{
strategy=PIPE_JUMP;
}
else if(b_button())
{
strategy=CENTER_DRIVE;
}
else//c
{
WAIT(side_button());
msleep(1000);
set_servo_position(TRIBBLE_ARM, TA_DOWN);
set_servo_position(TRIBBLE_CLAW, TC_OPEN);
set_servo_position(BLOCK_CLAW, BC_START);
set_servo_position(BASKET_ARM, BA_DOWN);
enable_servos();
msleep(2000);
forward(20, 60);
return 0;
//set_up_drive();//gets the servos and stuff in driving position
//test_driving();
reset_buttons();
set_up_drive();
printf("press black button to begin\n");
WAIT(side_button());
printf("starting in 2 seconds...\n");
msleep(2000);
back_line_follow_time(60, 5000);
return 9001;
}
WAIT(!a_button()&&!b_button());
set_a_button_text("light start");//only gets here if running one of the real code options
set_b_button_text("no ls");
set_c_button_text("-");
boolean l_s=false;//whether or not is doing light start
WAIT(a_button()||b_button());
if(a_button())//if b, does nothing-->l_s already false
l_s=true;
reset_buttons();
if(strategy==PIPE_JUMP)
set_up_jump();
else//drive
set_up_drive();
if(l_s)
{
light_start(LIGHT_SENSOR);
}
else//no light start
{
printf("press black button when ready\n");
WAIT(side_button());
printf("starting in 2 seconds...\n");
msleep(2000);
}
shutdownin(239.5);
start();//timing
if(strategy==PIPE_JUMP)
{
ready_to_jump();
time_drive(-90, -90, 1300);//jump!
servo_set(TRIBBLE_ARM, TA_UP,.3);//move the claw up so it can square up
time_drive(-50, -50, 1500);//get towards the pipe
physical_squareup(false);//square up on the back
time_drive(50, 50, 2500);//go back towards the other wall
physical_squareup(true);//square up on the front
time_drive(-50, -50, 1000);//get back to the center
right(87, 0, 50);//turn towards the edge
time_drive(-60, -60, 1500);//move towards edge
physical_squareup(false);//square up on the outside of the field
tribble_claw_drop();//drop the claw-->plow position
time_drive(68, 60, 1100);//arc into the wall to wall follow to the blocks
//forward(5.25, 60);//move to block position
grab_blocks();//grab the blocks...
forward(20, 60);//plow the tribbles!
servo_set(TRIBBLE_CLAW, TC_CLOSE, .7);//close claw to catch tribbles
servo_set(TRIBBLE_ARM, TA_UP, 1);//put the arm up to get across the center
forward(20, 60);//get across the center
servo_set(TRIBBLE_ARM, TA_START, .5);//push into the ground so the claw doesn't jump
servo_set(TRIBBLE_CLAW, TC_OPEN, .8);//back into plow position
servo_set(TRIBBLE_ARM, TA_DOWN, .1);//back to drive position
msleep(250);
forward(7, 60);//get to dumping location
nowstr("first dump started at");
drive_dump();//dump...
forward(7, 60);//replow the tribbles (maybe get a few extra)
back(2, 60);//get to optimal grab location
tribble_claw_dump();//put the tribbles in the basket
back(5, 60);//back to dump location
tribble_claw_drop();//put the claw back down
drive_dump();//dump again
nowstr("first dump finished at");
//forward(15, 60);//plow the second set of tribbles, get to block location
time_drive(66, 60, 3000);//arc towards the right wall to make sure it follows the right wall
grab_blocks();//grab the blocks...
forward(8, 60);//plow the remaining tribbles
servo_set(TRIBBLE_CLAW, TC_CLOSE, .4);//grab the tribbles
servo_set(TRIBBLE_ARM, TA_DUMP, 1);//raise the arm (to allow it to square up)
time_drive(60, 60, 1500);//get towards the wall
physical_squareup(true);//and square up on it
msleep(200);
back_line_follow(35.8, 60);//back up to the dumping location
servo_set(TRIBBLE_ARM, TA_DOWN, .5);//put the arm down to get it out of the way
nowstr("second dump started at");
drive_dump();//dump
tribble_claw_dump();//put the tribbles in the basket
tribble_claw_drop();//
drive_dump();//dump again
nowstr("second dump finished at");
servo_set(TRIBBLE_CLAW, TC_PART_OPEN, .3);//get the claw up and out of the way
servo_set(TRIBBLE_ARM, TA_UP, .3);
back(6, 60);//back up to get the caught tribbles
servo_set(TRIBBLE_ARM, TA_START, .3);//put the claw back down
servo_set(TRIBBLE_CLAW, TC_OPEN, .5);//
servo_set(TRIBBLE_ARM, TA_DOWN, .1);//
forward(38, 60);//push the tribbles (get any that went way down the field)
back(2, 60);//tribbles near edge of claw
tribble_claw_dump();
servo_set(TRIBBLE_CLAW, TC_CLOSE, .3);//close the claw, just for good measure
back_line_follow(30, 60);//get back to the dumping location
servo_set(TRIBBLE_ARM, TA_DOWN, .5);//get the arm out of the way
nowstr("third dump started at");
drive_dump();
nowstr("third dump finished at");
back_line_follow(17, 60);//get back across the center
right(180, 0, 50);//turn around
tribble_claw_drop();//put the claw down...
forward(25, 60);//and plow!
back(2, 60);//optimal grab location
tribble_claw_dump();//well duh...
servo_set(TRIBBLE_CLAW, TC_CLOSE, .3);//close the claw for good measure
time_drive(60, 60, 1500);//move towards the wall
physical_squareup(true);//and square up on it
back_line_follow(35.8, 60);//back up to the dumping location
servo_set(TRIBBLE_ARM, TA_DOWN, .5);//get the claw out of the way
nowstr("fourth dump started at");
drive_dump();//dump stuff
move_block_arm(BLA_MID);//get the block arm back out of the way
servo_set(BASKET_ARM, BA_UP, 1);//put the basket back up
time_drive(-50, -50, 1500);//one last chance to dump (stay there just cause...you never know)
}
else//drive strategy
{
forward(38, 90);//get towards the center
right(90, 0, 70);//turn towards the middle of the gap
forward(17, 90);//get through the gap and to the black tape
left(85, 0, 70);//turn parallel to the black tape
servo_set(TRIBBLE_ARM, TA_JUMP, .4);//get the claw into plow position
servo_set(TRIBBLE_CLAW, TC_PART_OPEN, .4);//
servo_set(TRIBBLE_ARM, TA_DOWN, .4);//
servo_set(TRIBBLE_CLAW, TC_OPEN, .4);//
}
nowstr("finished at");
return 42;
}
