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The code
int RCX=2; // Change this according to which RCX is being programmed
//sensor triggering variables
int ball1=999; //480; //bernoulli ball present **triggers when higher**
int precip1=999; //408; //precipitate present **triggers when higher**
int magFO1=440; //electromag released FO are blocked **triggers when lower**
int heattouch=500; //bimetallic has pressed the sensor **triggers when lower**
int chemLED1=0; //chemical battery LEDs are on **triggers when lower**
int sound1=200; //piezo detection **triggers when lower**
int lacetouch=500; //lace tying trigger **triggers when lower**
//motor timing variables
int motorswitcher=300;
int springsmotor=300;
int chembatterymotor=0;
int ballthrowermotor=1000;
int pneumaticmotor=100;
int precipmotor=0;
int laceknotmotor=2600;
int laceknotmotor2=600;
//special ops variables
int bernoulli=0;
int transformer=0;
int aa=0;
int transformer2=0; //Rapid checker Averager **triggers when lower**
int thejudgefriendlywaitcommand=300;
// true/false transfer markers
int i=0;
int j=0;
int k=0;
int r=0;
task main()
{
SetPower(OUT_A && OUT_B && OUT_C, OUT_FULL);
SetDirection(OUT_A && OUT_B && OUT_C, OUT_FWD); //cords need to go up!
SetSensorType(SENSOR_1, SENSOR_TYPE_NONE); //tells the RCX that the sensors are generic
SetSensorType(SENSOR_2, SENSOR_TYPE_NONE);
SetSensorType(SENSOR_3, SENSOR_TYPE_NONE);
SetSensorMode(SENSOR_1, SENSOR_MODE_RAW); //reads sensors in raw data form
SetSensorMode(SENSOR_2, SENSOR_MODE_RAW);
SetSensorMode(SENSOR_3, SENSOR_MODE_RAW);
start Identify;
if (RCX==1)start RCX1;
if (RCX==2)start RCX2;
if (RCX==3)start RCX3;
if (RCX==4)start RCX4;
}
task RCX1()
{
while(true)
{
if(SENSOR_1<=magFO1 && i==0) //electromagnet drops ball and FO is blocked
{
repeat(50)
{
aa=(SENSOR_2+aa); //sums the ambient readings and stores them as "aa"
Wait(1);
}
precip1=((aa/50)+5); //finds the average of the ambient conditions
ClearTimer(1); //timer for resetting the precip dumper
On(OUT_A); //precip dumper
until(SENSOR_2>=precip1)
precipmotor=(Timer(1)*10); //sets the reset time in the correct units
Off(OUT_A);
i=1;
}
if(SENSOR_2>=precip1 && j==0) //precipitate is present
{
repeat(50)
{
aa=(SENSOR_3+aa); //sums ambient readings and stores them as "aa"
Wait(1);
}
ball1=((aa/50)+20); //finds the average of the ambient conditions
PlayTone(800,100);
Wait(thejudgefriendlywaitcommand);
OnFor(OUT_B,100); //pneumatic switch
j=1;
Float(OUT_B); //Float puts motors into "neutral"
}
if(SENSOR_3>=ball1 && k==0) //bernoulli ball is present
{
while(bernoulli==0)
{
ClearTimer(0);
until(Timer(0)==2||SENSOR_3<=ball1) //the ball must stay for 2 seconds
if(SENSOR_3>=ball1) bernoulli=1;
}
PlayTone(800,100);
Wait(thejudgefriendlywaitcommand);
OnFor(OUT_C, springsmotor); //springs motor (release and store)
k=1;
Float(OUT_C);
}
if(i==1 && j==1 && k==1 && r==0) //resetting code
{
Toggle(OUT_A); //switches motor direction
OnFor(OUT_A,precipmotor); //precip
r=1;
}
}
}
task RCX2()
{
while(true)
{
if(SENSOR_1<=sound1 && i==0) //piezoelectric microphone
{
repeat(50)
{
aa=(SENSOR_2+aa); //averager of ambient conditions
Wait(1);
}
transformer2=(aa/50);
PlayTone(800,100);
Wait(thejudgefriendlywaitcommand);
OnFor(OUT_A, motorswitcher); //completes transformer circuit
Float(OUT_A);
i=1;
}
ClearTimer(1); //for transformer hits counting
while(i==1 && j==0) //transformer LEDs
{
if(SENSOR_2<=transformer2) transformer=transformer+1;
if(transformer>=5 && Timer(1)<=3) //triggers if it gets enough hits in the given time
{
aa=0;
repeat(50)
{
aa=(SENSOR_3+aa); //averager
Wait(1);
}
chemLED1=((aa/50)-1);
ClearTimer(0); //timer for chemical battery resetting
On(OUT_B); //completes chemical battery
until(SENSOR_3<=chemLED1)//lowers until immersed in vinegar
Wait(100);
until(SENSOR_3<=chemLED1) //makes sure it is in vinegar
Off(OUT_B);
chembatterymotor=(Timer(0)*10); //sets reset time
Float(OUT_B);
j=1;
}
if(transformer<=5 && Timer(1)>=3) //if it doesn't get enough hits in the given time
{
ClearTimer(1); //start over
transformer=0;
}
Wait(1);
}
if(SENSOR_3<=chemLED1 && k==0) //chemical battery LED
{
OnFor(OUT_C, ballthrowermotor); //launches ball
Float(OUT_C);
k=1;
}
if(i==1 && j==1 && k==1 && r==0) //resetting code
{
Toggle(OUT_B);
OnFor(OUT_B, chembatterymotor); //resets chemical battery
r=1;
}
}
}
task RCX3()
{
while(true)
{
if(SENSOR_1<=heattouch && i==0) //increasing/decreasing heat
{
PlayTone(800,100);
OnFor(OUT_A, motorswitcher); //turns NiCr off
Wait(100);
until(SENSOR_1>=heattouch); //until it is released
PlayTone(800,100);
OnFor(OUT_C, motorswitcher); //completes buzzer circuit
On OUT_B; //rattle
Wait(30);
repeat (40)
{
Toggle OUT_B; //shakes rattle for 12.3 seconds total
Wait(30);
}
Off(OUT_B);
i=1;
Float(OUT_A && OUT_B && OUT_C);
}
}
}
task RCX4()
{
while(true)
{
if(SENSOR_1<=lacetouch && i==0) //lace tying trigger
{
Toggle(OUT_A);
Toggle(OUT_B);
OnFor(OUT_A, laceknotmotor); //intial pulling
OnFor(OUT_B, pneumaticmotor); //removes the pin
OnFor(OUT_A, laceknotmotor2); //finishes the knot
i=1;
Float(OUT_A && OUT_B);
}
}
}
task Identify()
{
Wait(100);
repeat(RCX)
{
PlayTone(800,20);
Wait(35);
}
}
