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btHand.c
executable file
·146 lines (110 loc) · 3.58 KB
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btHand.c
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#pragma config(Hubs, S1, HTServo, HTMotor, none, none)
#pragma config(Sensor, S2, lightR, sensorLightActive)
#pragma config(Motor, mtr_S1_C2_1, motorD, tmotorNormal, openLoop)
#pragma config(Motor, mtr_S1_C2_2, motorE, tmotorNormal, openLoop)
#pragma config(Servo, srvo_S1_C1_6, servo6, tServoStandard)
#pragma config(Servo, srvo_S1_C1_5, servo5, tServoStandard)
#pragma config(Servo, srvo_S1_C1_4, servo4, tServoStandard)
#pragma config(Servo, srvo_S1_C1_3, servo3, tServoStandard)
#pragma config(Servo, srvo_S1_C1_2, servo2, tServoStandard)
//*!!Code automatically generated by 'ROBOTC' configuration wizard !!*//
long nLastXmitTimeStamp = nPgmTime;
long nDeltaTime = 0;
////////////////////////////////////////////////////////////////////////////////////////////////////////
//
// Check to See if Bluetooth Link is Connected
//
////////////////////////////////////////////////////////////////////////////////////////////////////////
void checkBTLinkConnected()
{
if (nBTCurrentStreamIndex >= 0)
return;
PlaySound(soundLowBuzz);
PlaySound(soundLowBuzz);
eraseDisplay();
nxtDisplayCenteredTextLine(3, "BT not");
nxtDisplayCenteredTextLine(4, "Connected");
wait1Msec(3000);
StopAllTasks();
}
const int kMaxSizeOfMessage = 3;
const TMailboxIDs kQueueID = mailbox1;
////////////////////////////////////////////////////////////////////////////////////////////////////////
//
// Receive Messages Function
//
////////////////////////////////////////////////////////////////////////////////////////////////////////
void readMultipleDataMsgs()
{
TFileIOResult nBTCmdRdErrorStatus;
int nSizeOfMessage;
ubyte nRcvBuffer[kMaxSizeOfMessage];
while (true)
{
// Check to see if a message is available
nSizeOfMessage = cCmdMessageGetSize(kQueueID);
if (nSizeOfMessage <= 0)
{
wait1Msec(1); // Give other tasks a chance to run
break; // No more message this time
}
if (nSizeOfMessage > kMaxSizeOfMessage)
nSizeOfMessage = kMaxSizeOfMessage;
nBTCmdRdErrorStatus = cCmdMessageRead(nRcvBuffer, nSizeOfMessage, kQueueID);
if (nRcvBuffer[0]==2){
nMotorEncoder[motorC] = 0;
while (nMotorEncoder[motorC] > -90)
{
motor[motorE] = -30;
}
motor[motorE] = 0;
servo[servo2] = 255;
servo[servo3] = 50;
servo[servo4] = 255;
servo[servo5] = 128;
servo[servo6] = 0;
wait1Msec(4000);
servo[servo2] = 100;
servo[servo3] = 100;
servo[servo4] = 100;
servo[servo5] = 190;
servo[servo6] = 100;
wait1Msec(4000);
/*nMotorEncoder[motorA] = 0;
while(nMotorEncoder[motorA]<150){
nMotorEncoder[motorA] = 40;
}
while(nMotorEncoder[motorA]>0){
nMotorEncoder[motorA] = -40;
}*/
servo[servo2] = 255;
servo[servo3] = 50;
servo[servo4] = 255;
servo[servo5] = 128;
servo[servo6] = 0;
wait1Msec(4000);
//servo[servo2] = 0;
// servo[servo2] = 0;
//servo[servo2] = 0;
// servo[servo2] = 0;
nMotorEncoder[motorC] = 0;
while (nMotorEncoder[motorC] < 90)
{
motor[motorE] = 30;
}
motor[motorE] = 0;
}
}
return;
}
task main()
{
bNxtLCDStatusDisplay = true;
wait10Msec(10);
while(true){
checkBTLinkConnected();
readMultipleDataMsgs();
wait1Msec(1);
}
return;
}