Robot C-program for Group B-3 (wind), E5 Fall 2002
Tim Cronin
Nathan Landy
Ann Marie Lam
void main(void) { int x,y,z; int still[2]; int storm[2]; int threshold[2]; int i,j,k; printf("\n press start to set still"); sleep(1.5); while(!start_button()) { printf("\n %d %d",analog(2), analog(3)); sleep(0.5); } for(i=0; i<=1; i++) { still[i]=analog(i+2); } printf("\n press start to set storm"); sleep(1.5); while(!start_button()) { printf("\n %d %d",analog(2), analog(3)); sleep(0.5); } for(j=0; j<=1; j++) { storm[j]=analog(j+2); } for(k=0; k<=1; k++) { threshold[k]=(still[k]+storm[k])/2; } printf("\n %d %d",threshold[0], threshold[1]); sleep(5.0); while(8*(threshold[0]+threshold[1])/3>(analog(2)+analog(3))) { motor(0,40); motor(1,40); printf("\n %d %d",analog(2), analog(3)); if(z=stop_button()) { ao(); sleep(3.0); } if(x=!digital(7)) { ao(); printf("\nouch"); tone(250.0,0.1); tone(225.0,0.1); tone(150.0,0.4); sleep(0.5); motor(0,-50); motor(1,-50); sleep(2.0); motor(0,-50); motor(1,50); sleep(3.0); ao(); } if(y=!digital(8)) { ao(); printf("\nouch"); tone(250.0,0.1); tone(225.0,0.1); tone(150.0,0.4); sleep(0.5); motor(0,-50); motor(1,-50); sleep(2.0); motor(0,50); motor(1,-50); sleep(3.0); ao(); } if(analog(2)>threshold[0]) { motor(0,0); motor(1,50); } if(analog(3)>threshold[1]) { motor(0,50); motor(1,0); } } ao(); printf("\n %d %d",analog(2), analog(3)); printf(" (Ode to Joy)"); tone(329.6,0.3); tone(329.6,0.3); tone(349.2,0.3); tone(392.0,0.3); tone(392.0,0.3); tone(349.2,0.3); tone(329.6,0.3); tone(293.7,0.3); tone(261.6,0.3); tone(261.6,0.3); tone(293.7,0.3); tone(329.6,0.3); tone(329.6,0.35); tone(293.7,0.25); tone(293.7,0.6); tone(329.6,0.3); tone(329.6,0.3); tone(349.2,0.3); tone(392.0,0.3); tone(392.0,0.3); tone(349.2,0.3); tone(329.6,0.3); tone(293.7,0.3); tone(261.6,0.3); tone(261.6,0.3); tone(293.7,0.3); tone(329.6,0.3); tone(293.7,0.35); tone(261.6,0.25); tone(261.6,0.7); tone(293.7,0.3); tone(293.7,0.3); tone(329.6,0.3); tone(261.6,0.3); tone(293.7,0.3); tone(329.6,0.15); tone(349.2,0.15); tone(329.6,0.3); tone(261.6,0.3); tone(293.7,0.3); tone(329.6,0.15); tone(349.2,0.15); tone(329.6,0.3); tone(293.7,0.3); tone(261.6,0.3); tone(293.7,0.3); tone(196.0,0.6); tone(329.6,0.3); tone(329.6,0.3); tone(349.2,0.3); tone(392.0,0.3); tone(392.0,0.3); tone(349.2,0.3); tone(329.6,0.3); tone(293.7,0.3); tone(261.6,0.3); tone(261.6,0.3); tone(293.7,0.3); tone(329.6,0.3); tone(293.7,0.35); tone(261.6,0.25); tone(261.6,0.7); }