| 0,0 → 1,98 |
|---|
| #define THRESHOLD 44 |
| #define POJEZD OUT_B |
| #define VYHAZ OUT_C |
| |
| task main() |
| { |
| PlaySound (SOUND_DOUBLE_BEEP); |
| Wait(500); // 5s podle pravidel |
| SetSensor(SENSOR_1,SENSOR_LIGHT); // senzor na caru modry |
| SetSensor(SENSOR_2,SENSOR_LIGHT); // senzor na caru cerveny |
| SetSensor(SENSOR_3, SENSOR_TOUCH); // poloha vyhazovadla |
| SetSensorMode (SENSOR_3, SENSOR_MODE_PULSE); // koncak bude pocitat pulzy |
| while (true) |
| { |
| // kazdych 10s dojed k care a zpet do vyckavaci pozice |
| PlaySound (SOUND_CLICK); |
| start k_care; |
| Wait(1000); // 10s |
| stop k_care; |
| stop radar; |
| stop cara; |
| } |
| } |
| |
| // udrazeni soupere, pokud drcnul do radaru nebo nas natlacil na caru |
| task utok() |
| { |
| stop radar; |
| stop cara; |
| PlaySound (SOUND_FAST_UP); |
| |
| SetPower (POJEZD+VYHAZ,OUT_FULL); // plnou parou vpred |
| OnFwd(POJEZD); |
| OnRev(VYHAZ); |
| ClearSensor (SENSOR_3); |
| // tlac, dokud se radar 2x neotoci nebo je jeste videt cara |
| while ( (2 > SENSOR_3) || (SENSOR_2 > THRESHOLD) ); |
| Off(VYHAZ); |
| Off(POJEZD); |
| |
| start k_care; // po odrazeni soupere se vrat do vyckavaci pozice |
| stop utok; |
| } |
| |
| task k_care() // najed do vyckavaci pozice |
| { |
| SetPower (POJEZD,OUT_FULL); |
| OnRev (POJEZD); // dojezd k care |
| while (SENSOR_2 < THRESHOLD); |
| OnFwd (POJEZD); |
| SetPower (POJEZD,OUT_FULL); |
| OnFor (POJEZD, 50); // popojed kus od cary |
| |
| PlaySound (SOUND_DOUBLE_BEEP); |
| start radar; |
| start cara; |
| start cara2; |
| stop k_care; |
| } |
| |
| task cara() // hlidani natlaceni na caru |
| { |
| while (SENSOR_2 < THRESHOLD); // utoc, kdyz nas neco dotlaci k care |
| start utok; |
| } |
| |
| task radar() // hlidani najeti do prostoru vyhazovace |
| { |
| OnFwd(VYHAZ); // roztoceni radaru |
| SetPower (VYHAZ,OUT_FULL); |
| OnFor(VYHAZ,50); |
| SetPower (VYHAZ,OUT_LOW); // snizeni vykonu po roztoceni |
| while (true) |
| { |
| ClearSensor (SENSOR_3); |
| OnFwd(VYHAZ); // stouchni do radaru na 400ms |
| Wait(40); |
| Float(VYHAZ); // volnobeh |
| ClearTimer (0); |
| while (0 == SENSOR_3) // testuje se, zda se do 700ms radar otoci |
| { |
| if (Timer (0) > 7) start utok; // utoc, pokud je zablokovan radar |
| } |
| } |
| } |
| |
| task cara2() // hlidani cary ze strany "radaru" |
| { |
| while (SENSOR_1 > THRESHOLD); // cekej na caru |
| stop radar; // vsechno zastav |
| stop cara; |
| stop k_care; |
| stop utok; |
| Off(POJEZD); |
| Off(VYHAZ); |
| start k_care; // snaz se dojet k care na druhe strane |
| stop cara2; |
| } |