CraneTank - Crane's NXC source

task updateMotors () {

    string buffer, message = "";
    char result;
    while (1) {

        // read mailbox
        result = ReceiveMessage(0, true, buffer);
        if (result == 0) {
            message = buffer;
            bool gotMotorMessage = true;

            switch (message) {
                case "TurnLeft": OnRev(OUT_B, 50); break;
                case "TurnRight": OnFwd(OUT_B, 50); break;
                case "TurnStop": Off(OUT_B); break;

                case "TiltUp":  OnFwd(OUT_C, 50); break;
                case "TiltDown": OnRev(OUT_C, 50); break;
                case "TiltStop": Off(OUT_C); break;

                case "ClawIn":  OnFwd(OUT_A, 80); break;
                case "ClawOut": OnRev(OUT_A, 80); break;
                case "ClawStop": Off(OUT_A); break;

                default: gotMotorMessage = false; break;
            }

            if (gotMotorMessage) {
                TextOut(0, LCD_LINE3, "Motor: "+message+"       ");
            }

        }

        Wait(50);

    }
}

task main() {

    Precedes(updateMotors);

}