Program 1 (Fall 2019)
The code below is a set of functions, variables, constants, and algorithms that are the work of RoboCatz for the Fall 2019 season.
function driveFoward(degrees){
syncMotors(2,3,50);
resetEncoder(2);
while(encoderValue(2) < degrees) {
drawText(0,0,encoderValue(2));
}
stopAllMotors()
}
function driveBackward(degrees){
syncMotors(2,3,-50);
resetEncoder(2);
while(abs(encoderValue(2)) < degrees) {
drawText(0,0,encoderValue(2));
}
stopAllMotors()
}
function turn(degrees){
syncMotors( 2, 3,- 50, -80);
sleep(degrees)
}
while(true) {
setLED(0)
clearScreen()
rect(10,10,160,60)
drawText(15,30,'Press a key to')
drawText(15,45,' select a program')
keyPressed=waitForPress()
switch(keyPressed)
{
case 1:
alert('You selected UP')
alert('hi')
resetEncoder( 2 );
motorCount= encoderValue(2)
drawText( 50, 50, encoderValue( 2 )-motorCount);
// while(true){ sleep(500);}
syncMotors( 2, 3, 40 );
while( abs( encoderValue( 2 )-motorCount) < 1055) {
drawText( 50, 50, encoderValue( 2 )-motorCount);
}
stopAllMotors();
sleep(1000);
// Find the line
syncMotors( 2, 3, 40 );
while( lightSensorValue()>2) {
}
stopAllMotors();
// Treehouse
driveFoward(25);
stopAllMotors();
driveBackward(1000);
// Turn
syncMotors( 2, 3, -40,-100 );
sleep(1000)
driveBackward(1250);
stopAllMotors();
break
case 2:
alert('You selected ENTER')
driveFoward(1300);
driveBackward(700)
turn(500)
driveBackward(1500)
stopAllMotors();
break
case 3:
alert('You selected DOWN')
syncMotors( 2, 3, 60 );
sleep(1500)
syncMotors( 2, 3, -60 );
sleep(1000)
syncMotors( 2, 3, 90, -90 );
sleep(1750)
syncMotors( 2, 3, 60 );
sleep(750)
stopAllMotors();
break
case 4:
alert('You selected RIGHT')
/*stopAllMotors();
syncMotors(2,3);
resetEncoder(2);
while(encoderValue(2)<720 ) {
clearScreen()
drawText(10,10,encoderValue(2))
sleep(10)
}
stopAllMotors()*/
driveFoward(1170)
stopAllMotors();
setMotor(1,-100);
resetEncoder(1);
while(abs(encoderValue(1))<150 ) {
clearScreen()
drawText(10,10,encoderValue(1))
sleep(10)
}
stopAllMotors()
sleep(100)
driveBackward(2000)
break
case 5:
alert('You selected LEFT')
while(lightSensorValue()>5) {
driveFoward()
clearScreen()
drawText(10, 10, lightSensorValue())
sleep( 100 )
}
break
}
}
