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  1. #pragma config(Motor,  motorB,          rightMotor,         tmotorNormal, PIDControl, encoder)
  2. #pragma config(Motor,  motorC,          leftMotor,          tmotorNormal, PIDControl, encoder)
  3.  
  4.  
  5. task main()
  6. {
  7.    char mapa[6][6] = {
  8.   {'D','R','R','R','R','D'},
  9.   {'D','U',' ',' ',' ','D'},
  10.   {'R','U',' ',' ',' ','D'},
  11.   {' ',' ',' ',' ',' ','D'},
  12.   {' ',' ',' ',' ',' ','D'},
  13.   {' ',' ',' ','X','L','L'}
  14.   };
  15.   int x=0;
  16.   int y=0;
  17.   while(true){
  18.     if(mapa[x][y]=='D'){
  19.       motor[motorB]=0;
  20.       motor[motorC]=0;
  21.       wait1Msec(2000);
  22.       motor[motorB]=50;
  23.       motor[motorC]=50;
  24.       wait1Msec(2000);
  25.       x++;
  26.     }
  27.     else if(mapa[x][y]=='R'){
  28.       motor[motorB]=0;
  29.       motor[motorC]=0;
  30.       wait1Msec(2000);
  31.       motor[motorB]=-30;
  32.       motor[motorC]=30;
  33.       wait1Msec(1550);
  34.       y++;}
  35.      else if(mapa[x][y]=='U'){
  36.       motor[motorB]=0;
  37.       motor[motorC]=0;
  38.       wait1Msec(2000);
  39.       motor[motorB]=50;
  40.       motor[motorC]=50;
  41.       wait1Msec(2000);
  42.       x--;}
  43.       else if(mapa[x][y]=='L'){
  44.       motor[motorB]=0;
  45.       motor[motorC]=0;
  46.       wait1Msec(2000);
  47.       motor[motorB]=30;
  48.       motor[motorC]=0;
  49.       wait1Msec(1550);
  50.       y--;}
  51.       else if(mapa[x][y]=='X'){
  52.       break;}
  53.      
  54.   }
  55. }
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