Robot-Code/DynamicInput.c at master · happyyi008/Robot-Code · GitHub

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
#pragma config(Sensor, in1,    POT,            sensorPotentiometer)
#pragma config(Sensor, dgtl1,  LD,             sensorQuadEncoder)
#pragma config(Sensor, dgtl3,  RD,             sensorQuadEncoder)
#pragma config(Sensor, dgtl5,  Rbutt,          sensorTouch)
#pragma config(Sensor, dgtl6,  DRII,           sensorTouch)
#pragma config(Sensor, dgtl7,  DRIDD,          sensorTouch)
#pragma config(Sensor, dgtl8,  LITT,           sensorTouch)
#pragma config(Sensor, dgtl9,  INKK,           sensorTouch)
#pragma config(Sensor, dgtl10, INKTT,          sensorTouch)
#pragma config(Motor,  port2,           LFD,           tmotorVex393, openLoop)
#pragma config(Motor,  port3,           LBD,           tmotorVex393, openLoop)
#pragma config(Motor,  port4,           RFD,           tmotorVex393, openLoop, reversed)
#pragma config(Motor,  port5,           RBD,           tmotorVex393, openLoop, reversed)
#pragma config(Motor,  port6,           LL,            tmotorVex393, openLoop)
#pragma config(Motor,  port7,           RL,            tmotorVex393, openLoop, reversed)
#pragma config(Motor,  port8,           ITL,           tmotorVex269, openLoop)
#pragma config(Motor,  port9,           ITR,           tmotorVex269, openLoop)
//*!!Code automatically generated by 'ROBOTC' configuration wizard               !!*//

task main()
{
SensorValue[dgtl1] = SensorValue[dgtl3] = 0;
while(true){

bool dri = false;
int drid = 1000;
int lit = 0;
int ink = 0;
int inkt = 3000;

while(SensorValue[Rbutt] == 0){
if(SensorValue[DRII] == 1){
	dri = true;
	}
if(SensorValue[DRIDD] == 1){
	drid = drid + 200;
	}
if(SensorValue[LITT] == 1){
	lit = lit + 1;
	if(lit == 3){
		lit = 0;
		}
	}
if(SensorValue[INKK] == 1){
	ink = ink + 1;
	if(ink == 3){
		ink = 0;
		}
	}
if(SensorValue[INKTT] == 1){
	inkt = inkt + 1000;
	}
}
//

SensorValue[dgtl1] = SensorValue[dgtl3] = 0;
	if(dri == true){
		while(SensorValue[dgtl1] < drid && SensorValue[dgtl3] < drid){
			  	motor[port2] = motor[port3] = motor[port4] = motor[port5] = 127;
			}
					motor[port2] = motor[port3] = motor[port4] = motor[port5] = 0;
		}
	if(lit == 1){
		 while(SensorValue[in1] < 1100){
  				motor[port6] = motor[port7] = -127;
  		}
  	}	else if(lit == 2){
  		while(SensorValue[in1] > 200){
  				motor[port6] = motor[port7] = 127;
  			}
  		}
  		  	motor[port6] = motor[port7] = 0;
	if(ink == 1){
			motor[port8] = motor[port9] = -127;
			wait1Msec(inkt);
			motor[port8] = motor[port9] = 0;
		} else if(ink == 2){
			motor[port8] = motor[port9] = 127;
			wait1Msec(inkt);
			motor[port8] = motor[port9] = 0;
	}

		while(SensorValue[dgtl1] > 0 && SensorValue[dgtl3] > 0){
			  	motor[port2] = motor[port3] = motor[port4] = motor[port5] = -127;
			}
					motor[port2] = motor[port3] = motor[port4] = motor[port5] = 0;


dri = false;
drid = 500;
lit = 0;
ink = 0;
inkt = 3000;
SensorValue[dgtl1] = SensorValue[dgtl3] = 0;


}
}