Robot Code

#pragma config(StandardModel, "EV3_REMBOT")
//*!!Code automatically generated by 'ROBOTC' configuration wizard               !!*//



/*
This program takes advantage of the multitasking features of RobotC.
A task is very similar to a function except for that it will run in parallel with the other code

I will be checking my emails semi-frequently during the IPT period so reply with any issues your having

*/




/*
Setting up variables, sonar and time will be removed later
food is 1000 so I can test other stuff without running out.
All global variables must be declared here
*/

int food = 1000;
int sonar = getUSDistance(S4);
int time;

/* This task is to setup the 1 sec timer to reduce food by 1
AFAIK this shouldn't need changes */

task timer()
{
    while(true)
    {
        wait1Msec(1000);
        food = food - 1;
        if (food < 1)
        {
            stopAllTasks();
        }
    }
}

/* Checks if it is touching Alien */

task touch()
{
    while(true)
    {
        if (getTouchValue(S1) == 1)
        {
            food = food + 10
            /* Play sound here. Idk how to do it so ask someone */
        }
    }
}


/* Reads colours on the ground. */

task colour()
{
    while(true)
    {
        /*
        Change this to something that measures reflected light instead of colour names
        something like getColorHue(nDeviceIndex)

        Also change the turnLeft to about 180 degrees.
        */

        /*
        if (getColorName(S3) == 'Black')
        {
            turnLeft(1, rotations, 50);

        }


        if (getColorName(S3) == 'White')
        {
            food = food + 5
        }
        */
    }
}

/* Main task */

task main()
{
    startTask(timer);
    startTask(touch);

    /*
    startTask(colour);

    Uncomment this when you have fixed up colour
    */




    while(true)
        {

            /* This is where stuff gets kinda weird, could probably be heavily optimised/changed */


            /* In the testing software the Sonar would output 250 whenever it couldn't find anything
            You may need to adjust this if that is not the case on the real robot */

            if (getUSDistance(S4) == 250)
            {
                /* Starts timer to ensure it doesn't endlessly spin searching */
                clearTimer(T1);

                while(getUSDistance(S4) == 250)
                {

                    /* Var is for debug, can be removed safely */
                    time = time1[T1];


                    /* Checks if it has been two seconds, if it has the robot will aimlessly drive in an attempt to get food */
                    if (time1[T1] > 2000)
                    {
                        clearTimer(T1);
                        motor(motorB) = 50;
                        motor(motorC) = 50;
                        wait1Msec(1000);
                        motor(motorB) = 0;
                        motor(motorC) = 0;
                    }


                    motor(motorB) = 100;
                }

                /* This will only run once the robot has found something, drives forward */

                motor(motorB) = 50;
                motor(motorC) = 50;


            }


        }
}