void main (void)
{
initialize();
wait1Msec(200);
//initialize values
int pwr = 15;
int sensorState = -1;
//determine these values by running the calibration program first
int threshold1 = 150;
int threshold2 = 150;
int delay = 10;
//initialize motors and LED indicators
setMotor (MOTOR_A, 0);
setMotor (MOTOR_B, 0);
LEDnum(0);
LEDoff(RED_LED);
LEDoff(GREEN_LED);
//waits for a button press
while(getSensor(BUTTON) == 0);
wait1Msec(100);
while(getSensor(BUTTON) == 1);
resetTimer();
while(getSensor(BUTTON)== 0 && time100() < 64) {
//line follows for 6.4 seconds
if (sensorState != getSensorState(threshold1, threshold2)) {
//only change direction if conditions are different than before.
sensorState = getSensorState(threshold1,threshold2);
if (sensorState == 0) { //go straight
drive(15, delay);
} else if (sensorState == 1){
rightTurn(15,delay);
} else if (sensorState == 2){
leftTurn(15, delay);
} else if (sensorState == 3){
rightTurn(15, delay);
}
}
}
//hard code exit 2
rightTurn(pwr,2400);
drive(pwr,9400);
leftTurn(pwr,1500);
drive(pwr,20000);
}
//This code measures how quickly a battery will drain (please start as fully charged)//
task main()
{
waitForStart();
nMotorEncoder(Right) = 0;
nMotorEncoder(Left) = 0;
wait1Msec(50);
ClearTimer(T2);
motor[Right] = speed;
motor[Left] = -speed;
AddToDatalog(speedDat, speed);
wait1Msec(8000);
//Get up to speed//
ClearTimer(T1);
startVolts = nAvgBatteryLevel;
while(time1(T1) < 10000){
}
//Starting encoder ticks per second//
encSpeed = ((nMotorEncoder(Right) / 10) + (abs(nMotorEncoder(Left)) / 10)) / 2;
AddToDatalog(encSpeedDat, encSpeed);
AddToDatalog(startVoltsDat, startVolts);
newSpeed = encSpeed;
//Run while at 80% of original speed or greater//
while(newSpeed >= (encSpeed * 80 / 100)){
ClearTimer(T1);
nMotorEncoder(Right) = 0;
nMotorEncoder(Left) = 0;
wait1Msec(50);
while(time1(T1) < 10000){
}
//Current encoder ticks per second//
newSpeed = ((nMotorEncoder(Right) / 10) + (abs(nMotorEncoder(Left)) / 10)) / 2;
AddToDatalog(newSpeedDat, newSpeed);
AddToDatalog(newVoltsDat, nAvgBatteryLevel);
}
time = time100(T2) / 10;
AddToDatalog(timeDat, time);
SaveNxtDatalog();
}
