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- #pragma config(Sensor, S1, ochidreapta, sensorEV3_Ultrasonic)
- #pragma config(Sensor, S2, ochistanga, sensorEV3_Ultrasonic)
- #pragma config(Sensor, S3, culoaredreapta, sensorEV3_Color)
- #pragma config(Sensor, S4, culoarestanga, sensorEV3_Color)
- #pragma config(Motor, motorA, Atac, tmotorNXT, openLoop, reversed, encoder)
- #pragma config(Motor, motorB, Stanga, tmotorEV3_Large, PIDControl, reversed, driveLeft, encoder)
- #pragma config(Motor, motorC, Dreapta, tmotorEV3_Large, PIDControl, reversed, driveRight, encoder)
- #pragma config(Motor, motorD, , tmotorEV3_Large, openLoop, encoder)
- //*!!Code automatically generated by 'ROBOTC' configuration wizard !!*//
- task main()
- {
- motor[motorC]=0;
- motor[motorB]=0;
- wait1Msec(4300);
- motor[motorB]=100;
- motor[motorC]=100;
- wait1Msec(500);
- motor[motorA]=100;
- while(true)
- {
- if(SensorValue(S1)<=35&&SensorValue(S2)>35)//dreapta vede, stanga nu
- {
- motor[motorC]=0;
- motor[motorB]=100;
- }
- if(SensorValue(S1)>25&&SensorValue(S2)<=25)//Stanga vede,dreapta nu
- {
- motor[motorC]=100;
- motor[motorB]=0;}
- if(SensorValue(S1)<=25&&SensorValue(S2)<=25)//ambii vad
- {
- motor[motorC]=100;
- motor[motorB]=100;
- }
- if(SensorValue(S1)>25&&SensorValue(S2)>25)
- {
- motor[motorC]=-40;
- motor[motorB]=40;
- }
- if(SensorValue(S3)<40)//dreapta vede
- {
- motor[motorB]=-35;
- motor[motorC]=-5;
- wait1Msec(400);
- motor[motorB]=50;
- motor[motorC]=-50;
- }
- if(SensorValue(S4)>=15)//stanga vede
- {
- motor[motorB]=-5;
- motor[motorC]=-35;
- wait1Msec(400);
- motor[motorB]=-50;
- motor[motorC]=50;
- }
- if(SensorValue(S3)<15&&SensorValue(S4)<15)//ambii vad
- {
- motor[motorB]=-30;
- motor[motorC]=-30;
- wait1Msec(200);
- motor[motorB]=-50;
- motor[motorC]=50;
- }
- }
- }
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