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Comp_Autonomous.c
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#pragma config(Hubs, S1, HTMotor, HTMotor, HTMotor, none)g
#pragma config(Sensor, S2, Ultra, sensorSONAR)
#pragma config(Sensor, S3, Ultra2, sensorSONAR)
#pragma config(Sensor, S4, IR, sensorHiTechnicIRSeeker600)
#pragma config(Motor, motorA, , tmotorNXT, openLoop)
#pragma config(Motor, motorB, , tmotorNXT, openLoop)
#pragma config(Motor, motorC, , tmotorNXT, openLoop)
#pragma config(Motor, mtr_S1_C1_1, Right, tmotorTetrix, openLoop, reversed, encoder)
#pragma config(Motor, mtr_S1_C1_2, mLift, tmotorTetrix, openLoop, encoder)
#pragma config(Motor, mtr_S1_C2_1, mIntake, tmotorTetrix, openLoop)
#pragma config(Motor, mtr_S1_C2_2, mFlag, tmotorTetrix, openLoop)
#pragma config(Motor, mtr_S1_C3_1, Left, tmotorTetrix, openLoop, encoder)
#pragma config(Motor, mtr_S1_C3_2, mDispenser, tmotorTetrix, openLoop)
//*!!Code automatically generated by 'ROBOTC' configuration wizard !!*//
#include "FunctionLibrary.c"
#include "JoystickDriver.c"
#define right -1
#define left 1
task main()
{
waitForStart();
int choice;
while(choice != -1)
{
choice = picker(); //How do you spell weifan
}
if(choice == 1)
{
}
else if(choice == 2)
{
nMotorEncoder[Right] = 0;
Forward(3100,70);
nMotorEncoder[mLift] = 0;
while(nMotorEncoder[mLift] < 3800)
{
motor[mLift] = 50;
}
motor[mLift] = 0;
Forward(700,70);
wait1Msec(1000);
motor[mDispenser] = -50;
wait1Msec(200);
motor[mDispenser] = 50;
wait1Msec(200);
motor[mDispenser] = 0;
wait1Msec(500);
Backward(1700,70);
wait1Msec(500);
Turn(800,100,left);
wait1Msec(500);
Forward(5700,100);
wait1Msec(500);
Turn(720,100,left);
wait1Msec(500);
while(nMotorEncoder[mLift] > 0)
{
motor[mLift] = -50;
}
motor[mLift] = 0;
wait1Msec(700);
Backward(2500,100);
wait1Msec(500);
}
else if (choice == 3) //Section of Code that Chris Worked on, on 12/13/2013, - = unknown distance,
{
nMotorEncoder[Right] = 0;
Forward(-,-);
nMotorEncoder[mLift] = 0;
while(nMotorEncoder[mLift] < -)
{
motor[mLift] = -;
}
}
else if(choice == 4) //End of section
{
nMotorEncoder[Right] = 0;
Forward(3100,70);
nMotorEncoder[mLift] = 0;
while(nMotorEncoder[mLift] < 3800)
{
motor[mLift] = 50;
}
motor[mLift] = 0;
Forward(700,70);
wait1Msec(1000);
motor[mDispenser] = -50;
wait1Msec(200);
motor[mDispenser] = 50;
wait1Msec(200);
motor[mDispenser] = 0;
wait1Msec(500);
Backward(1700,70);
wait1Msec(500);
Turn(800,100,right);
wait1Msec(500);
Forward(5700,100);
wait1Msec(500);
Turn(720,100,right);
wait1Msec(500);
while(nMotorEncoder[mLift] > 0)
{
motor[mLift] = -50;
}
motor[mLift] = 0;
wait1Msec(700);
Backward(2500,100);
wait1Msec(500);
}
else if (choice == 5)
{
}
//this was our previous version of the program.
// nMotorEncoder[Right] = 0;
//Forward(3100,70);
//nMotorEncoder[mLift] = 0;
//while(nMotorEncoder[mLift] < 3800)
//{
// motor[mLift] = 50;
//}
//motor[mLift] = 0;
//Forward(700,70);
//wait1Msec(1000);
//motor[mDispenser] = -50;
//wait1Msec(200);
//motor[mDispenser] = 50;
//wait1Msec(200);
//motor[mDispenser] = 0;
// wait1Msec(500);
//Backward(1700,70);
//wait1Msec(500);
// Turn(800,100,right);
// wait1Msec(500);
// Forward(5700,100);
// wait1Msec(500);
// Turn(720,100,right);
// wait1Msec(500);
//while(nMotorEncoder[mLift] > 0)
//{
// motor[mLift] = -50;
//}
// motor[mLift] = 0;
// wait1Msec(700);
// Backward(2500,100);
// wait1Msec(500);
//below is the old program.
/*
*motor[mLift] = 0;
*Forward(700,70);
*wait1Msec(1000);
*motor[mDispenser] = -50;
*wait1Msec(200);
*motor[mDispenser] = 50;
*wait1Msec(200);
*motor[mDispenser] = 0;
*Backward(1000,100);
*Turn(650,100,right);
*Forward(1500,100);
*Turn(720,100,left);
*Forward(1000,100);
*Turn(720,100,left);
*Forward(700,100);
*Turn(720,100,left);
*Forward(1000,100);
*Forward(1440, 100);
*Turn(720, 100, right);
*Forward(1440, 100);
*Turn(720,100,right);
*/
}