 | 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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