Ultrasonic Rangefinder Forward till Near - ROBOTC.net

Sensing
Ultrasonic Rangefinder Forward till Near (cont.)
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const tSensors rightEncoder = (tSensors) in2;
const tSensors leftEncoder = (tSensors) in3;
const tSensors sonarSensor = (tSensors) in5;
void moveStraight()
{
if(SensorValue[leftEncoder] > SensorValue[rightEncoder])
{
motor[port3] = 50;
motor[port2] = 63;
}
if(SensorValue[leftEncoder] < SensorValue[rightEncoder])
{
motor[port3] = 63;
motor[port2] = 50;
}
if(SensorValue[leftEncoder] == SensorValue[rightEncoder])
{
motor[port3] = 63;
motor[port2] = 63;
}
}
task main()
{
wait1Msec(2000);
bMotorReflected[port2] = 1;
SensorValue[leftEncoder] = 0;
SensorValue[rightEncoder] = 0;
while(SensorValue[sonarSensor] > 3)
{
moveStraight();
}
}
10. Download and Run.
Checkpoint
© Carnegie Mellon Robotics Academy / For use with VEX ® Robotics Systems
10. Go to Compile and Download Program
9n. Add this code
Add these commands to
reset the values of the
encoders to 0.
ROBOTC
9o. Modify this code
Replace the generic motorforward
commands with a
call to moveStraight();.
Your robot now runs straight until its Ultrasonic Sonar Rangefinder detects an object within
3 inches, in its forward field of view. You can change the stopping distance by changing
the 3 inch “cutoff” point.
Ultrasonic Rangefinder • 10