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Dec 9th, 2019
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  1. #define odlegloscOdPrzeszkody 25
  2. #define kraniecRingu 6
  3. #define iloscObrotowDoPelnegoObrotu 27
  4.  
  5. task main()
  6. {
  7. SetSensorColorFull(IN_2);
  8. SetSensorLowspeed(IN_4);
  9. unsigned int rawData[], normData[];
  10. int scaledData[];
  11. int cval;
  12. long t0, time;
  13. int rotations = 0;
  14.  
  15. while (true) {
  16. if(SensorUS(IN_4)<odlegloscOdPrzeszkody && SensorUS(IN_4)>0){
  17. t0 = CurrentTick();
  18. while(true){
  19. ReadSensorColorEx(IN_2, cval, rawData, normData, scaledData);
  20. if (cval == kraniecRingu) {
  21. time = CurrentTick()-t0;
  22. OnFwd(OUT_AC, 75); Wait(time);
  23. Off(OUT_AC); Wait(100);
  24. t0 = CurrentTick();
  25. break;
  26. } else {
  27. OnRev(OUT_AC, 75); Wait(50);
  28. }
  29. }
  30. }
  31. else {
  32. if(rotations<iloscObrotowDoPelnegoObrotu){
  33. OnRev(OUT_A,60);
  34. OnFwd(OUT_C,60);Wait(150);
  35. Off(OUT_AC);Wait(100);
  36. rotations+=1;
  37. } else {
  38. break;
  39. }
  40. }
  41. }
  42. }
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