idk denkproof
This commit is contained in:
Blboun3
parent
01c706619d
commit
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283
app.cpp
283
app.cpp
@ -7,6 +7,9 @@
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/*
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CHANGELOG:
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0.8.1 - 'MONIKA' (#86)
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Fixed error correction when brick stuck (changed motor speeds to fix the angle)
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0.8.0 - 'MONIKA' (#85)
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Error correction on every straight drive
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Multiple turning step
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@ -103,7 +106,7 @@ struct MPWRSPlus
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struct note
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{
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/// @brief uint16_t: Frequency of the note
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uint16_t frequency;
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double frequency;
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/// @brief int32_t: Duration of the note
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int32_t duration;
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};
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@ -340,6 +343,7 @@ version createVersion(int versionID, const char *codename, int major, int minor,
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/// @param hinge ev3cxx::Motor: motor to use when opening or closing the door
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void open_door(ev3cxx::Motor hinge)
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{
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hinge.off();
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hinge.onForDegrees(-25, 200);
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}
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@ -347,7 +351,10 @@ void open_door(ev3cxx::Motor hinge)
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/// @param hinge ev3cxx::Motor: motor to use when opening or closing the door
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void close_door(ev3cxx::Motor hinge)
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{
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hinge.onForDegrees(25, 200);
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hinge.off();
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hinge.onForDegrees(25, 200, false, false);
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tslp_tsk(1000);
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hinge.off(true);
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}
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/// @brief Function for turning
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@ -408,35 +415,66 @@ void turn(ev3cxx::MotorTank motors, ev3cxx::GyroSensor gyro, int endAngle = 90,
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void turn_forever(ev3cxx::MotorTank motors, ev3cxx::GyroSensor gyro, int endAngle = 90, int THRESHOLD = 2, int TFC = 5)
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{
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cleanAndTitle();
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endAngle = endAngle - TFC;
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endAngle = endAngle + (TFC / 2);
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ev3cxx::statusLight.setColor(ev3cxx::StatusLightColor::GREEN);
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// MPWRSPlus calcedPWRS = calculate_motor_pwrs(-35, 40);
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// left, right, rotations (faster), brake, blocking, wait_after
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motors.on(-25, 45);
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motors.on(-15, 35);
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int min = endAngle - 10;
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int max = endAngle + 10;
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bool rotating = true;
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int counter = 0;
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while (rotating && counter < 25000)
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while (counter < 4000)
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{
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int currAngle = ev3cxx::abs(gyro.angle());
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ev3cxx::display.format(3, "Angle: % ") % currAngle;
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ev3cxx::display.format(4, "Counter: % ") % counter;
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if ((ev3cxx::abs(endAngle - THRESHOLD) < currAngle))
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int angle = ev3cxx::abs(gyro.angle());
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ev3cxx::display.format(3, "angle: % ") % angle;
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if ((min < angle) && (angle < max))
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{
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int error = endAngle - currAngle;
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ev3cxx::display.format(5, "Error: % deg.") % error;
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counter = 40000;
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motors.off(true);
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tslp_tsk(400);
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if (angle > (endAngle + THRESHOLD))
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{
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bool innerRun = true;
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motors.on(15, 5);
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while (innerRun)
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{
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int inner_angle = ev3cxx::abs(gyro.angle());
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ev3cxx::display.format(3, "angle: % ") % inner_angle;
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if (inner_angle < (endAngle + THRESHOLD))
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{
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innerRun = false;
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motors.off(true);
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rotating = false;
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ev3cxx::statusLight.setColor(ev3cxx::StatusLightColor::RED);
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ev3_speaker_play_tone(NOTE_F5, 100);
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return;
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}
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tslp_tsk(20);
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tslp_tsk(50);
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}
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}
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else if (angle < (endAngle - THRESHOLD))
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{
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motors.on(-5, 15);
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bool innerRun = true;
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while (innerRun)
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{
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int inner_angle = ev3cxx::abs(gyro.angle());
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ev3cxx::display.format(3, "angle: % ") % inner_angle;
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if (inner_angle > (endAngle - THRESHOLD))
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{
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innerRun = false;
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motors.off(true);
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}
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tslp_tsk(50);
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}
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}
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}
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ev3_speaker_play_tone(NOTE_F6, 50);
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tslp_tsk(50);
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counter++;
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}
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motors.off(true);
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ev3cxx::statusLight.setColor(ev3cxx::StatusLightColor::ORANGE);
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return;
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}
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@ -568,15 +606,18 @@ bool run_short_side(ev3cxx::MotorTank motors, MPWRS idealMPWRS, ev3cxx::GyroSens
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/// @param CYCLE_LIMIT int: how many cycle to run (default 180)
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/// @param CORRECTION_MULTIPLIER int: base value for modifying drive direction when of course (default 20)
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/// @return bool: false if stopped by the middle button
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bool run_long_side(ev3cxx::MotorTank motors, MPWRS idealMPWRS, ev3cxx::GyroSensor gyro, ev3cxx::TouchSensor bumper, int CYCLE_LIMIT = 180, int CORRECTION_MULTIPLIER = 20)
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bool run_long_side(ev3cxx::MotorTank motors, MPWRS idealMPWRS, ev3cxx::GyroSensor gyro, ev3cxx::TouchSensor bumper, int CYCLE_LIMIT = 180, int CORRECTION_MULTIPLIER = 20, int THRESHOLD = 2)
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{
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cleanAndTitle();
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const int LEFT_THRESHOLD = -(THRESHOLD * 3);
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const int RIGHT_THRESHOLD = (THRESHOLD * 3);
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gyro.resetHard();
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ev3cxx::BrickButton btnEnter(ev3cxx::BrickButtons::ENTER); // Middle button
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MPWRS motor_powers;
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// Reset both motor's powers
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motor_powers.lMotorPWR = idealMPWRS.lMotorPWR;
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motor_powers.lMotorPWR = idealMPWRS.lMotorPWR + 10;
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motor_powers.rMotorPWR = idealMPWRS.rMotorPWR;
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bool run = true;
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@ -588,7 +629,7 @@ bool run_long_side(ev3cxx::MotorTank motors, MPWRS idealMPWRS, ev3cxx::GyroSenso
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while (run)
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{
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ev3cxx::statusLight.setColor(ev3cxx::StatusLightColor::GREEN);
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motors.on(motor_powers.lMotorPWR + 20, motor_powers.rMotorPWR - 20);
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motors.on(motor_powers.lMotorPWR, motor_powers.rMotorPWR);
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tslp_tsk(50);
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// Reset both motor's powers
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@ -602,7 +643,7 @@ bool run_long_side(ev3cxx::MotorTank motors, MPWRS idealMPWRS, ev3cxx::GyroSenso
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ev3cxx::display.format(4, "Left motor: % \nRight motor: % \nCycles: % \nAngle: % ") % lPower % rPower % cycleCounter % angle;
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if (lPower == 0 || rPower == 0 || angle < -2)
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if (lPower == 0 || rPower == 0)
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{
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// If error in previous cycle
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if (lastError == (cycleCounter - 1))
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@ -627,18 +668,18 @@ bool run_long_side(ev3cxx::MotorTank motors, MPWRS idealMPWRS, ev3cxx::GyroSenso
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errorStrike = 0;
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// Back up a bit
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motors.off(true);
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motors.on(-ev3cxx::abs(motor_powers.rMotorPWR - 20), -ev3cxx::abs(motor_powers.lMotorPWR + 20));
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motors.on(-80, -40);
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tslp_tsk(350);
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continue;
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}
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}
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if (angle > 5)
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if (angle < -2)
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{
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motor_powers.lMotorPWR = idealMPWRS.lMotorPWR;
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motor_powers.rMotorPWR = idealMPWRS.rMotorPWR + 35;
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ev3_speaker_play_tone(NOTE_D4, 50);
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ev3cxx::statusLight.setColor(ev3cxx::StatusLightColor::ORANGE);
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motor_powers.lMotorPWR = 100;
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motor_powers.rMotorPWR = 40;
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motors.on(motor_powers.lMotorPWR, motor_powers.rMotorPWR);
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tslp_tsk(100);
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}
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// Emergency break using middle button (BTN_ENTER)
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@ -655,14 +696,16 @@ bool run_long_side(ev3cxx::MotorTank motors, MPWRS idealMPWRS, ev3cxx::GyroSenso
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ev3_speaker_play_tone(NOTE_F4, 100);
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motors.off(true);
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// Drive to the wall annd try to pickup all the bricks or get them to the container
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int s_cycleCounter = 0;
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int s_lastError = -1;
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int s_errorStrike = 0;
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int s_maxCycles = 60;
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int s_maxCycles = 70;
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while (s_cycleCounter <= s_maxCycles)
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{
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s_cycleCounter++;
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motors.on(100, 100);
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int lPower = motors.leftMotor().currentPower();
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int rPower = motors.rightMotor().currentPower();
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if (lPower == 0 || rPower == 0)
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@ -681,7 +724,7 @@ bool run_long_side(ev3cxx::MotorTank motors, MPWRS idealMPWRS, ev3cxx::GyroSenso
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s_lastError = s_cycleCounter;
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// If this is third error cycle in row
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if (s_errorStrike == 3)
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if (s_errorStrike == 5)
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{
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ev3_speaker_play_tone(NOTE_F6, 50);
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ev3cxx::statusLight.setColor(ev3cxx::StatusLightColor::ORANGE);
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@ -690,16 +733,14 @@ bool run_long_side(ev3cxx::MotorTank motors, MPWRS idealMPWRS, ev3cxx::GyroSenso
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errorStrike = 0;
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// Back up a bit
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motors.off(true);
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motors.on(-ev3cxx::abs(motor_powers.rMotorPWR - 20), -ev3cxx::abs(motor_powers.lMotorPWR + 20));
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motors.on(-80, -40);
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tslp_tsk(350);
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continue;
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}
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}
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tslp_tsk(50);
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}
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motors.on(100, 100);
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tslp_tsk(3000);
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run = false;
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motors.off(true);
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}
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@ -854,29 +895,163 @@ bool unlimited_drive(ev3cxx::MotorTank motors, MPWRS idealMPWRS, ev3cxx::GyroSen
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return !error;
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}
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/**
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*
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* Driver functions
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*
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* music_task - play erika
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* sub_task - watchdog; will kill main_task after 85 seconds, beep and start music_task
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* main_task - main program lives here
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*
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*/
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void music_task(intptr_t unused)
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{
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while (true)
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int PLAY_SPEED = 250;
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note erika[72];
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//
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erika[0] = {NOTE_E4, 3};
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erika[1] = {NOTE_F4, 1};
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erika[2] = {NOTE_G4, 2};
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erika[3] = {NOTE_G4, 2};
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erika[4] = {NOTE_G4, 2};
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erika[5] = {NOTE_C5, 2};
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erika[6] = {NOTE_C5, 2};
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erika[7] = {NOTE_E5, 2};
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erika[8] = {NOTE_E5, 3};
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erika[9] = {NOTE_D5, 1};
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erika[10] = {NOTE_C5, 1};
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//
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erika[11] = {0, 1};
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erika[12] = {0, 2};
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erika[13] = {0, 4};
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//
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erika[14] = {NOTE_B4, 2};
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erika[15] = {NOTE_C5, 2};
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erika[16] = {NOTE_D5, 1};
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//
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erika[17] = {0, 1};
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erika[18] = {0, 2};
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erika[19] = {0, 4};
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//
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erika[20] = {NOTE_E5, 3};
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erika[21] = {NOTE_D5, 1};
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erika[22] = {NOTE_C5, 1};
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//
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erika[23] = {0, 1};
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erika[24] = {0, 2};
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erika[25] = {0, 4};
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//
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//
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erika[26] = {NOTE_E4, 3};
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erika[27] = {NOTE_F4, 1};
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erika[28] = {NOTE_G4, 2};
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erika[29] = {NOTE_G4, 2};
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erika[30] = {NOTE_G4, 2};
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erika[31] = {NOTE_C5, 2};
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erika[32] = {NOTE_C5, 2};
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erika[33] = {NOTE_E5, 2};
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erika[34] = {NOTE_E5, 3};
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erika[35] = {NOTE_D5, 1};
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erika[36] = {NOTE_C5, 1};
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//
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erika[37] = {0, 1};
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erika[38] = {0, 2};
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erika[39] = {0, 4};
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//
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erika[40] = {NOTE_B4, 2};
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erika[41] = {NOTE_C5, 2};
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erika[42] = {NOTE_D5, 1};
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//
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erika[43] = {0, 1};
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erika[44] = {0, 2};
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erika[45] = {0, 4};
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//
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erika[46] = {NOTE_E5, 3};
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erika[47] = {NOTE_D5, 1};
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erika[48] = {NOTE_C5, 1};
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//
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erika[49] = {0, 1};
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erika[50] = {0, 2};
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erika[51] = {0, 4};
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//
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erika[52] = {NOTE_G4, 3};
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erika[53] = {NOTE_C5, 1};
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erika[54] = {NOTE_B4, 2};
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erika[55] = {NOTE_B4, 2};
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erika[56] = {NOTE_B4, 2};
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erika[57] = {NOTE_B4, 2};
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erika[58] = {NOTE_A4, 2};
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erika[59] = {NOTE_B4, 2};
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erika[60] = {NOTE_C5, 5};
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//
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erika[61] = {0, 3};
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//
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erika[62] = {NOTE_B4, 3};
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erika[63] = {NOTE_C5, 1};
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erika[64] = {NOTE_D5, 2};
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erika[65] = {NOTE_D5, 2};
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erika[66] = {NOTE_D5, 2};
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erika[67] = {NOTE_D5, 2};
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erika[68] = {NOTE_G5, 2};
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erika[69] = {NOTE_F5, 2};
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erika[70] = {NOTE_E5, 5};
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//
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erika[71] = {0, 3};
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int i = 0;
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for (i = 0; i < 1000; i++)
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{
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ev3_speaker_play_tone(NOTE_F4, 600);
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tslp_tsk(1600);
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ev3_speaker_play_tone(NOTE_A4, 600);
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tslp_tsk(1600);
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ev3_speaker_play_tone((250 + 2 * i), 2);
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tslp_tsk(2);
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}
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for (int ito = (250 + 2 * i); ito > (int)NOTE_E4; ito-=2)
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{
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ev3_speaker_play_tone((250 +ito), 2);
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tslp_tsk(2);
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}
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for (const auto ¬e : erika)
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{
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if (note.frequency != 0)
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{
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ev3_speaker_play_tone(note.frequency, note.duration * PLAY_SPEED);
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}
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tslp_tsk(note.duration * PLAY_SPEED + (PLAY_SPEED / 5));
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}
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}
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void sub_task(intptr_t unused)
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{
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// Sleep 89 seconds
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tslp_tsk(89 * 1000);
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// Sleep 85 seconds
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int time = 0;
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while (time < 85)
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{
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time++;
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ev3cxx::display.format(2, "Time: % s") % time;
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tslp_tsk(1000);
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}
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// Make sure the volume is up and play the final beep
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ev3_speaker_set_volume(100);
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ev3_speaker_play_tone(NOTE_E5, 500);
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// Terminate main task
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ter_tsk(MAIN_TASK);
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// Set up motors
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ev3cxx::Motor hinge(ev3cxx::MotorPort::A, ev3cxx::MotorType::MEDIUM); // Hinge motor
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ev3cxx::MotorTank motors(ev3cxx::MotorPort::B, ev3cxx::MotorPort::C); // Tank motors (Left - B; Right - C)
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hinge.off(true);
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motors.off(true);
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// Activate music task
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act_tsk(MUSIC_TASK);
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// Stop self
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ter_tsk(SUB_TASK);
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}
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void main_task(intptr_t unused)
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{
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const int CYCLE_LIMIT_1 = 250;
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const int CYCLE_LIMIT_1 = 350;
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const int CYCLE_LIMIT_2 = 350;
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const int THRESHOLD = 2;
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const int TURNING_THRESHOLD = 1;
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@ -886,14 +1061,14 @@ void main_task(intptr_t unused)
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int volume = 100;
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// Create version info
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const version VERSION = createVersion(85, "MONIKA", 0, 8, 0);
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const version VERSION = createVersion(85, "MONIKA", 0, 8, 1);
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// Set-up screen
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ev3cxx::display.resetScreen();
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ev3cxx::display.setFont(EV3_FONT_MEDIUM);
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// Set up motor powers
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MPWRSPlus calcedPWRS = calculate_motor_pwrs();
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MPWRSPlus calcedPWRS = calculate_motor_pwrs(71, 50);
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MPWRS idealMPWRS = calcedPWRS.motor_powers;
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const int SPEED_MODIFIER = calcedPWRS.SPEED_MODIFIER;
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@ -959,7 +1134,7 @@ void main_task(intptr_t unused)
|
||||
close_door(hinge);
|
||||
|
||||
// Run first long side
|
||||
bool side_1 = run_long_side(motors, motor_powers, gyro, frontTouch, CYCLE_LIMIT_1, CORRECTION_MULTIPLIER);
|
||||
bool side_1 = run_long_side(motors, motor_powers, gyro, frontTouch, CYCLE_LIMIT_1, CORRECTION_MULTIPLIER, THRESHOLD);
|
||||
// If something happened
|
||||
if (!side_1)
|
||||
{
|
||||
@ -970,13 +1145,11 @@ void main_task(intptr_t unused)
|
||||
ev3_speaker_play_tone(NOTE_FS4, 100);
|
||||
}
|
||||
|
||||
motors.onForRotations(-motor_powers.rMotorPWR, -motor_powers.lMotorPWR, 3.25);
|
||||
|
||||
gyro.resetHard();
|
||||
motors.onForRotations(-(motor_powers.rMotorPWR + 25), -motor_powers.lMotorPWR, 3.25);
|
||||
// turn 90 degress left
|
||||
//turn_forever(motors, gyro, 35, TURNING_THRESHOLD, TURNING_FACTOR_CORRECTION);
|
||||
//motors.onForSeconds(-motor_powers.rMotorPWR, -motor_powers.lMotorPWR, 120);
|
||||
turn_forever(motors, gyro, 95, TURNING_THRESHOLD, TURNING_FACTOR_CORRECTION);
|
||||
motors.onForSeconds(-motor_powers.rMotorPWR, -motor_powers.lMotorPWR, 1000);
|
||||
turn_forever(motors, gyro, 90, TURNING_THRESHOLD, TURNING_FACTOR_CORRECTION);
|
||||
// motors.onForSeconds(-motor_powers.rMotorPWR, -motor_powers.lMotorPWR, 1000);
|
||||
|
||||
// Cross to the other side
|
||||
gyro.resetHard();
|
||||
@ -1015,11 +1188,13 @@ void main_task(intptr_t unused)
|
||||
ev3_speaker_play_tone(NOTE_FS4, 100);
|
||||
}
|
||||
|
||||
gyro.resetHard();
|
||||
motors.onForRotations(-motor_powers.rMotorPWR, -motor_powers.lMotorPWR, 3.25);
|
||||
// reset gyro; turn 150 degrees left
|
||||
gyro.resetHard();
|
||||
turn_forever(motors, gyro, 90, TURNING_THRESHOLD, TURNING_FACTOR_CORRECTION);
|
||||
turn_forever(motors, gyro, 150, TURNING_THRESHOLD, TURNING_FACTOR_CORRECTION);
|
||||
|
||||
motors.onForRotations(motor_powers.lMotorPWR, motor_powers.rMotorPWR, 8.12);
|
||||
motors.onForRotations(motor_powers.lMotorPWR, motor_powers.rMotorPWR, 6);
|
||||
|
||||
open_door(hinge);
|
||||
|
||||
|
||||
Reference in New Issue
Block a user