Robot Going through Course

Code

#pragma config(StandardModel, "RVW Anemobot")

task main()

{

//Reset the gyro sensor to remove any previous data

//Loop while the gyro sees a value less than 90 degrees.

while(getBumperValue(bumpSwitch) == 0) // Loop while robot's bumper/touch sensor isn't pressed in

{

setMotorSpeed(leftMotor, 50); //Set the leftMotor (motor1) to half power (50)

setMotorSpeed(rightMotor, 50.5); //Set the rightMotor (motor6) to half power (50)

}

{

setMotorSpeed(leftMotor, -50); //Set the leftMotor (motor1) to full power forward (127)

setMotorSpeed(rightMotor, -50); //Set the rightMotor (motor6) to full power reverse (-127)

sleep(500);

{

resetGyro(gyroSensor);

//Loop while the gyro sees a value less than 90 degrees.

while(getGyroDegrees(gyroSensor) < 267)

{

//Set the motors to turn to the left at 25% speed.

setMotorSpeed(leftMotor, -25);

setMotorSpeed(rightMotor, 25.5);

}

//Specifically stop the motor at the end to force the robot to come to a "Holding" stop.

setMotorSpeed(leftMotor, 0);

setMotorSpeed(rightMotor, 0);

sleep(1000); //wait 1 second for the robot to come to a complete stop.

}

while(getDistanceValue(distanceMM) > 240)

{

setMotorSpeed(leftMotor, 70); //Move left motor at 50% speed

setMotorSpeed(rightMotor, 70); //Move right motor at 50% speed

}

{

resetGyro(gyroSensor);

//Loop while the gyro sees a value less than 90 degrees.

while(getGyroDegrees(gyroSensor) < 267)

{

//Set the motors to turn to the left at 25% speed.

setMotorSpeed(leftMotor, -25);

setMotorSpeed(rightMotor, 25.5);

}

setMotorSpeed(leftMotor, 50);

setMotorSpeed(rightMotor, 50);

sleep(12000);

}

//While distance sensor is more than 100mm (10cm) away

/*while(getDistanceValue(distanceMM) > 240)

{

setMotorSpeed(leftMotor, 70); //Move left motor at 50% speed

setMotorSpeed(rightMotor, 70); //Move right motor at 50% speed

}

*/

}

}