 | Code: #pragma config(Hubs, S1, HTMotor, HTServo, none, none)
#pragma config(Hubs, S2, HTMotor, none, none, none)
#pragma config(Sensor, S1, , sensorI2CMuxController)
#pragma config(Sensor, S2, , sensorI2CMuxController)
#pragma config(Sensor, S3, , sensorHiTechnicIRSeeker1200)
#pragma config(Motor, mtr_S1_C1_1, motorD, tmotorTetrix, openLoop, encoder)
#pragma config(Motor, mtr_S1_C1_2, motorE, tmotorTetrix, openLoop, reversed)
#pragma config(Motor, mtr_S2_C1_1, motorF, tmotorTetrix, PIDControl)
#pragma config(Motor, mtr_S2_C1_2, motorG, tmotorTetrix, PIDControl, reversed)
#pragma config(Servo, srvo_S1_C2_1, servo1, tServoStandard)
#pragma config(Servo, srvo_S1_C2_2, servo2, tServoStandard)
#pragma config(Servo, srvo_S1_C2_3, servo3, tServoContinuousRotation)
#pragma config(Servo, srvo_S1_C2_4, servo4, tServoContinuousRotation)
#pragma config(Servo, srvo_S1_C2_5, servo5, tServoStandard)
#pragma config(Servo, srvo_S1_C2_6, servo6, tServoNone)
//*!!Code automatically generated by 'ROBOTC' configuration wizard !!*//
#include "JoystickDriver.c"
void initializeRobot()
{
servo[servo1]=255;
servo[servo2]=0;
servo[servo3]=128;
servo[servo4]=128;
servo[servo5]=255;
nMotorEncoder[motorD] = 0;
nMotorEncoder[motorE] = 0;
return;
}
task main()
{
initializeRobot();
servo[servo1]=255;
servo[servo2]=0;
servo[servo3]=128;
servo[servo4]=128;
servo[servo5]=110;
motor[motorF]=0;
motor[motorG]=0;
nMotorEncoder[motorE] = 0;
nMotorEncoder[motorD] = 0;
nMotorEncoderTarget[motorE] = 0;
nMotorEncoderTarget[motorD] = 462;
motor[motorE] = 0;
motor[motorD] = 50;
while (nMotorRunState[motorE] != runStateIdle || nMotorRunState[motorD] != runStateIdle)
{
}
motor[motorE] = 0;
motor[motorD] = 0;
wait1Msec(3000);
servo[servo1]=255;
servo[servo2]=0;
servo[servo3]=128;
servo[servo4]=128;
servo[servo5]=110;
motor[motorF]=0;
motor[motorG]=0;
nMotorEncoder[motorE] = 0;
nMotorEncoder[motorD] = 0;
nMotorEncoderTarget[motorE] = 7312;
nMotorEncoderTarget[motorD] = 7312;
motor[motorE] = 50;
motor[motorD] = 50;
while (nMotorRunState[motorE] != runStateIdle || nMotorRunState[motorD] != runStateIdle)
{
}
motor[motorE] = 0;
motor[motorD] = 0;
wait1Msec(3000);
servo[servo1]=255;
servo[servo2]=0;
servo[servo3]=128;
servo[servo4]=128;
servo[servo5]=110;
motor[motorF]=0;
motor[motorG]=0;
nMotorEncoder[motorE] = 0;
nMotorEncoder[motorD] = 0;
nMotorEncoderTarget[motorE] = 462;
nMotorEncoderTarget[motorD] = 0;
motor[motorE] = 50;
motor[motorD] = 1;
while (nMotorRunState[motorE] != runStateIdle || nMotorRunState[motorD] != runStateIdle)
{
}
motor[motorE] = 0;
motor[motorD] = 0;
wait1Msec(3000);
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