//This program was designed by our team before the BOTBALL Regional

//Tournament 2013, Carnegie Mellon University in Qatar

 

 

 

 

iRobot Create

 

// Created on Thu March 21 2013

//Port 1 Up Value = 1350

//Port 1 Down Value = 0

//Port 3 Up Value = 763

//Port 3 Down Value = 2047

int main()

{ speedtest.qa

    enable_servos(); // Servos are enabled

 

    set_servo_position(1,1350); // sets servo up so that we can hold PVC

 

    set_servo_position(3,763); // ^^^^^^^^^^^^^^^^^^^^^^

 

    int linefollow = 7; // declaring line foolow as 7

 

    printf("BEST OF LUCK!!!!!");

 

    create_connect(); // connecting to create

 

    wait_for_light(3); // waiting for light

 

    shut_down_in(117); // shut downs in 117 seconds

 

    while(analog10(linefollow)<512){ //while line not detected

 

        create_drive_direct(150,150); // move forward

 

    }

    create_stop(); // stop when line detected

 

    printf("found line");

 

    create_drive_direct(200,200); // moves into the launch area

 

    msleep(1000); // for 1 second

 

    create_drive_direct(100,-100); // turns

 

    msleep(500); // 

 

    create_stop(); // create stops

 

    msleep(80000); // sleeps till the other bot comes

 

    create_drive_direct(100,100); // moves forward to collect objects

 

    msleep(3000); // for 3 seconds

 

    create_drive_direct(-100,-100); // comes back a little so that it can get right into the transporter

 

    msleep(150);

 

    set_servo_position(1,0); // sets servo down so that it can get all the peices inside

 

    set_servo_position(3,2047); // other servo%^^^^^^^^^^^

 

    disable_servos(); // disables servo

 

    create_disconnect();

 

    printf("did we win");    

 

    return 0;

}

 

DemoBot 

 

 

int main()

{

 

 

    int rport=7, leftmtr=0, rghtmtr=3; // identify port and motors

    int threshold=512;    // set threshold for light conditions

    int botguybump = 10;

    int high=100,low=-10; // set wheel powers for arc radius

 

 

 

    printf("Line following: position robot on tape\n");

 

    //wait_for_light(3);    

 

    //shut_down_in(115);

 

    while(digital(botguybump) == 0){ // stop if button is pressed

        while (analog10(rport) > threshold) { // continue until not dark

            motor(leftmtr,high); motor(rghtmtr,low); // arc left

 

        if (digital(botguybump) == 0) break; } // or button pressed

 

        while (analog10(rport) <= threshold){ // continue until dark

            motor(leftmtr,low); motor(rghtmtr,high); // arc right

 

 

 

        if (digital(botguybump) == 0) break; } // or button pressed

    }

    motor(leftmtr,-25); //just turns a bit to ensure it is on the white and not on the black

    motor(rghtmtr,25);

    msleep(500);

 

 

    while(analog10(rport) < threshold){ //now as it is on the white, it can keep spinning until it sees the black line.

        motor(rghtmtr,50);

        motor(leftmtr,-50);    

 

    }

    motor(leftmtr,100); //now, the robot is on the edge of the line, which means, it is not parallel to the wall. so we give this small turn

    motor(rghtmtr,-100);

    msleep(47);    

 

 

    motor(rghtmtr,100); //it just goes straight

    motor(leftmtr,100);

    msleep(3500);

 

    motor(leftmtr,100); //takes a 90 degree turn

    motor(rghtmtr,-100);

    msleep(900);

 

    motor(leftmtr,100); // moves a bit forward.

    motor(rghtmtr,100);

    msleep(2500);

 

    motor(leftmtr,100); //turns 90 degrees to face the interior of the launch area

    motor(rghtmtr,-100);

    msleep(900);

 

    motor(leftmtr,100); //moves into the launch area

    motor(rghtmtr,100);

    msleep(1700);

 

    motor(leftmtr,-100); //since there is nothing blocking the container in the front. all it has to do is come back outside the launch area, leaving all the things inside.

    motor(rghtmtr,-100);

    msleep(1850);

 

    ao(); // stop because program over

    printf("Did we do it ?????");

    return 0;

}