Ultrasonic Rangefinder Forward till Near - ROBOTC.net

Sensing
Ultrasonic Rangefinder Forward till Near (cont.)
7. Choose the (condition) based on the Ultrasonic Rangefinder. The (condition)
should make the movement commands repeat as long as the distance to the
target is still above the desired value.
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const tSensors sonarSensor = (tSensors) in5;
task main()
{
wait1Msec(2000);
bMotorReflected[port2] = 1;
while(SensorValue[sonarSensor] > 3)
{
motor[port3] = 63;
motor[port2] = 63;
}
}
8. Download and Run.
Checkpoint
© Carnegie Mellon Robotics Academy / For use with VEX ® Robotics Systems
8. Go to Compile and Download Program
7. Add this code
The (condition) should be true as long
as the Rangefinder’s value is above 3
inches. This will make the robot move
forward as long as the Rangefinder does
not detect any objects within 3 inches.
Your robot will run forward until it is within 3 inches of a detectable object. Not all objects are
detectable, however, and the “area” of detection is only in front of the Ultrasonic Rangefinder
itself. These limitations are inherent to the technology, but the sensor does seem to be able to
detect the mines, as we had hoped.
ROBOTC
Ultrasonic Rangefinder • 6