| 0,0 → 1,60 |
|---|
| #define THRESHOLD 44 |
| #define POJEZD OUT_A |
| #define VYHAZ OUT_C |
| |
| task main() |
| { |
| Wait(500); // 5s |
| SetSensor(SENSOR_2,SENSOR_LIGHT); // senzor na caru |
| SetSensor(SENSOR_3, SENSOR_TOUCH); // poloha vyhazovadla |
| SetSensorMode (SENSOR_3, SENSOR_MODE_PULSE); // koncak bude pocitat pulzy |
| while (true) |
| { |
| PlaySound (SOUND_CLICK); |
| start k_care; |
| Wait(1000); // 10s |
| stop utok; |
| stop k_care; |
| stop bumper; |
| } |
| } |
| |
| task k_care() |
| { |
| SetPower (POJEZD,OUT_HALF/2); |
| OnFwd (POJEZD); // dojezd k care |
| while (SENSOR_2 > THRESHOLD); |
| Off(POJEZD); |
| OnRev (POJEZD); |
| SetPower (POJEZD,OUT_FULL); |
| OnFor (POJEZD, 30); |
| |
| PlaySound (SOUND_LOW_BEEP); |
| start utok; |
| start bumper; |
| } |
| |
| task utok() |
| { |
| ClearSensor (SENSOR_3); |
| while (SENSOR_2 > THRESHOLD); // jed, kdyz nas neco dotlaci k care |
| stop bumper; |
| SetPower (POJEZD+VYHAZ,OUT_FULL); |
| OnRev (POJEZD); |
| OnFwd(VYHAZ); |
| while (0 == SENSOR_3); |
| Off(VYHAZ); |
| Off(POJEZD); |
| |
| start k_care; |
| } |
| |
| task bumper() |
| { |
| Float(VYHAZ); |
| ClearSensor (SENSOR_3); |
| while (0 == SENSOR_3); // jed, kdyz nekdo narazi do vyhazovace |
| OnRev(VYHAZ+POJEZD); |
| Wait(50); |
| Off(VYHAZ+POJEZD); |
| } |