Spring 2015 Program Code in RobotC
#include "Library2012.c";
/*------
Date: April 13
Description: Walk
-------*/
task main() {
startup();
setPowerLevel(25);
configureRobotDimensions(70, 4);
//calibrateLightSensor();
motor[motorA]=20;
SensorType[S3] = sensorLightActive; // Turn light 'on' if it is currently 'off'
float LowestRecordedValue = 99;
long LowestRecordedDegree = -1;
int LastTurnMade = 0;
while(true) { // Run Forever
if(SensorValue(touchSensor) == 1) { // Button was pressed. Now act on it.
nxtDisplayCenteredTextLine(2, "Degree: %5d", LowestRecordedDegree);
nxtDisplayCenteredTextLine(3, "Lowest: %5.2f", LowestRecordedValue);
if(LowestRecordedDegree>315) { // turn right
motor[motorB] = 0;
motor[motorC] = powerLevel;
LastTurnMade=COUNTERCLOCKWISE;
nxtDisplayCenteredTextLine(6, "**** " );
nxtDisplayCenteredTextLine(7, "**** " );
} else {
if(LowestRecordedDegree>135 && LowestRecordedDegree<235) {
motor[motorC] = 0; // turn left
motor[motorB] = powerLevel;
LastTurnMade=CLOCKWISE;
nxtDisplayCenteredTextLine(6, " ****" );
nxtDisplayCenteredTextLine(7, " ****" );// //
} else { // go straight
motor[motorC] = powerLevel;
motor[motorB] = powerLevel;
nxtDisplayCenteredTextLine(6, " **** " );
nxtDisplayCenteredTextLine(7, " **** " );
}
}
LowestRecordedValue = 99; // Reset the lowest value
nMotorEncoder[motorA] = 0; // Reset the sensor rotation indicator
while(SensorValue(touchSensor) == 1) { wait10Msec(2); }
// Wait until the button is released
}
int thisLightValue = getLightPercent();// Get the current light value
nxtDisplayCenteredTextLine(4, "Degree:%5d", nMotorEncoder[motorA]);
nxtDisplayCenteredTextLine(5, "Light: %5d", thisLightValue);
// Compare Current light value to recorded light value
if(LowestRecordedValue*1 > thisLightValue*1 && thisLightValue*1>0 && nMotorEncoder[motorA]>180) {
LowestRecordedValue = thisLightValue*1; // Set new values
LowestRecordedDegree = nMotorEncoder[motorA]; // Store this degree value
// This degree will be used later to decide if should turn or go straight
}
}
}