root / trunk / code / projects / activities_fair_demo / main.c @ 2001
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/*
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* main.c for activities fair demo
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*
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* Author: Colony Project, CMU Robotics Club
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*/
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#include <dragonfly_lib.h> |
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#include "../linefollowing/lineDrive.h" |
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#define LINESPEED 180 |
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#define T 100 |
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#define SPD 190 |
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int main (void) { |
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/* Initialize the dragonfly boards, the xbee, encoders, lineFollowing */
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dragonfly_init(ALL_ON); |
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orb_init(); |
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if(button2_read()){
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lineDrive_init(); |
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while(true) |
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doDrive(LINESPEED); |
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} else {
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buzzer_init(); |
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orb1_set_color(YELLOW); |
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a6(T/2);
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orb2_set_color(YELLOW); |
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e7(T*3);
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delay_ms(T*3);
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while(1){ |
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{ //i==1
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motor_l_set(FORWARD, SPD); |
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motor_r_set(BACKWARD, SPD+10);
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orb1_set_color(GREEN); |
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e6(T*2);
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b5(T); |
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c6(T); |
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orb2_set_color(GREEN); |
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d6(T*2);
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orb2_set_color(CYAN); |
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c6(T); |
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motor_l_set(FORWARD, SPD-10);
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motor_r_set(FORWARD, SPD-10);;
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b5(T); |
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orb1_set_color(CYAN); |
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a5(T*2);
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a5(T); |
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c6(T); |
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orb1_set_color(ORANGE); |
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orb2_set_color(ORANGE); |
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e6(T*2);
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orb1_set_color(RED); |
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orb2_set_color(RED); |
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d6(T); |
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c6(T); |
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orb1_set_color(LIME); |
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orb2_set_color(LIME); |
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b5(T*3);
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c6(T); |
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d6(T*2);
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orb1_set_color(BLUE); |
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} |
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{ //i==2
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motor_l_set(FORWARD, SPD); |
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motor_r_set(BACKWARD, SPD); |
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e6(T*2);
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orb2_set_color(BLUE); |
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c6(T*2);
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orb2_set_color(ORB_OFF); |
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a5(T*2);
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orb1_set_color(ORB_OFF); |
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a5(T); |
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{ motors_off();
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a5(T*1);
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delay_ms(T*2);
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} |
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motor_l_set(FORWARD, SPD-10);
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motor_r_set(FORWARD, SPD-10);
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delay_ms(T); |
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orb2_set_color(WHITE); |
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d6(T); |
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delay_ms(T); |
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orb1_set_color(WHITE); |
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f6(T); |
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orb1_set_color(PINK); |
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orb2_set_color(PINK); |
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a6(T); |
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c6(T/2);
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c6(T/2);
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g6(T); |
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f6(T); |
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orb1_set_color(GREEN); |
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orb2_set_color(GREEN); |
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e6(T*2);
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delay_ms(T); |
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orb2_set_color(RED); |
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orb1_set_color(RED); |
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c6(T); |
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e6(T); |
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a5(T/2);
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g5(T/2);
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d6(T); |
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} |
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{ //i==3
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motor_l_set(FORWARD, SPD); |
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motor_r_set(BACKWARD, SPD); |
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c6(T); |
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b5(T*2);
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delay_ms(T); |
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orb2_set_color(PURPLE); |
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orb1_set_color(PURPLE); |
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c6(T); |
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d6(T*2);
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orb2_set_color(RED); |
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motor_r_set(FORWARD, SPD); |
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e6(T*2);
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orb1_set_color(RED); |
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c6(T*2);
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orb1_set_color(ORB_OFF); |
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a5(T); |
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a4(T); |
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orb2_set_color(ORB_OFF); |
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a5(T); |
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a4(T); |
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{
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motors_off(); |
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delay_ms(T*2);
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orb2_set_color(ORANGE); |
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orb1_set_color(ORANGE); |
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e6(T); |
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} |
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motor_l_set(FORWARD, SPD); |
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motor_r_set(FORWARD, SPD); |
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e6(T*3);
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orb2_set_color(RED); |
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orb1_set_color(RED); |
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c6(T*3);
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} |
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{ //i==4
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motor_l_set(FORWARD, SPD); |
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motor_r_set(BACKWARD, SPD); |
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c6(T); |
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orb2_set_color(MAGENTA); |
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orb1_set_color(MAGENTA); |
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d6(T*4);
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orb2_set_color(CYAN); |
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orb1_set_color(CYAN); |
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b5(T*2);
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motor_r_set(FORWARD, SPD); |
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b5(T*2);
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orb2_set_color(PURPLE); |
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orb1_set_color(PURPLE); |
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c6(T*4);
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orb2_set_color(PINK); |
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orb1_set_color(PINK); |
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a5(T*4);
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orb2_set_color(BLUE); |
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orb1_set_color(GREEN); |
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ab5(T*4);
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orb1_set_color(BLUE); |
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orb2_set_color(GREEN); |
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b5(T); |
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} |
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{ //i==5
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motor_l_set(FORWARD, SPD); |
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motor_r_set(BACKWARD, SPD); |
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b5(T*2);
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delay_ms(T); |
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orb2_set_color(ORANGE); |
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orb1_set_color(ORANGE); |
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e6(T*4);
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orb2_set_color(RED); |
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orb1_set_color(RED); |
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motor_r_set(FORWARD, SPD); |
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c6(T*4);
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orb2_set_color(MAGENTA); |
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orb1_set_color(MAGENTA); |
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d6(T*4);
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orb2_set_color(CYAN); |
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orb1_set_color(CYAN); |
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b5(T*4);
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c6(T*2);
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orb1_set_color(WHITE); |
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e6(T); |
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} |
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motors_off(); |
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{ //CIRCLE
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motor_l_set(FORWARD, SPD); |
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motor_r_set(BACKWARD, SPD); |
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e6(T); |
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orb2_set_color(WHITE); |
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a6(T*4);
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} |
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{ //RESET
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motor_l_set(FORWARD, SPD+50);
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motor_r_set(FORWARD, SPD); |
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orb1_set_color(LIME); |
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orb2_set_color(LIME); |
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ab6(T); |
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orb1_set_color(ORB_OFF); |
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orb2_set_color(ORB_OFF); |
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delay_ms(T*13);
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motor_l_set(BACKWARD, SPD); |
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motor_r_set(FORWARD, SPD); |
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delay_ms(T*3);
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} |
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motors_off(); |
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delay_ms(T*5);
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} |
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} |
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return 0; |
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} |