Dwengo/sumobot: verschil tussen versies
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Label: Herhaalde karakters |
Label: Herhaalde karakters |
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Regel 339:
// hij telt af en hij draait als hij hem enkel maar aan de zijkanten ziet
</source>
#include <dwengoConfig.h>
#include <dwengoBoard.h>
#include <dwengoDelay.h>
#include <dwengoLCD.h>
#include <dwengoSensorModule.h>
#include <dwengoMotor.h>
#define LINE 1
#define LIGHT 2
#define WALL 3
#define LIGHT_THRESHOLD 20
#define LINE_THRESHOLD 10
#define PROXIMITY_MIN_THRESHOLD 5
#define PROXIMITY_MAX_THRESHOLD 7
#define DISTANCE_THRESHOLD 70
#define MAX_SPEED_LIGHT 1023
#define LOW_SPEED_LIGHT 700
#define MAX_SPEED_LINE 900
#define LOW_SPEED_LINE 500
#define MAX_SPEED_WALL 1023
#define LOW_SPEED_WALL 550
void main(void) {
int teller,os1,i, os4, os5, os8, d1, d2; // variables for sensors
initBoard();
initLCD();
initSensorModule();
initMotor();
powerLongRange(TRUE);
teller = 0;
setLedPattern(1,0,0,0,0,0,0,1);
delay_ms(1000);
setLedPattern(0,1,0,0,0,0,1,0);
delay_ms(1000);
setLedPattern(0,0,1,0,0,1,0,0);
delay_ms(1000);
setLedPattern(0,0,0,1,1,0,0,0);
delay_ms(1000);
setLedPattern(1,1,1,1,1,1,1,1);
delay_ms(1000);
while(TRUE) {
os1 = readSensor(OS1, DIFF_MODE);
os4 = readSensor(OS4, DIFF_MODE);
os8 = readSensor(OS8, ACTIVE_MODE);
printIntToLCD(os8, 1, 0);
if (os8<30){
setSpeedMotor1 (-600);
setSpeedMotor2 (600);
delay_ms(200);
}
else if (os8<30){
setSpeedMotor1 (600);
setSpeedMotor2 (-600);
delay_ms(200);
}
if (os8>100 ) {
setSpeedMotor1 (1000);
setSpeedMotor2 (1000);
delay_ms(1500);
}
else
{
if(os1 < 30 ){
teller = 0;
setSpeedMotor1(1023);
setSpeedMotor2(1023);}
else if (os4 < 30){
teller = 0;
setSpeedMotor1(1023);
setSpeedMotor2(1023);
}
else{
setSpeedMotor1(-750);
setSpeedMotor2(-750);
delay_ms(1000);
setSpeedMotor1(-1023);
setSpeedMotor2(1023);
delay_ms(1000);
}
}
}
}
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