LegoMindstorms source code for the homework 1.

README.md

Introduccion a la Ingenieria - Prof. Marcelo Mendoza

• Alfonso Cabargas M. / ROL USM: 201373531-2
• John Bidwell B. / ROL USM: 201373521-5

robot_intro.c

#pragma config(Sensor, S1, soundSensor, sensorSoundDB)
#pragma config(Sensor, S3, lightSensor, sensorLightActive)
#pragma config(Sensor, S4, sonarSensor, sensorSONAR)
#pragma config(Motor, motorA, gripperMotor, tmotorNormal, PIDControl, encoder)
#pragma config(Motor, motorB, rightMotor, tmotorNormal, PIDControl, encoder)
#pragma config(Motor, motorC, leftMotor, tmotorNormal, PIDControl, encoder)

motor[motorB] = 0; motor[motorC] = 0;

/* Triangle Source Code */	
	
void triangle(){
	motor[motorB] = 100; motor[motorC] = 100; wait1Msec(2000);
	motor[motorB] = 0  ; motor[motorC] = 0  ; wait1Msec(500) ;
	motor[motorB] = -100; motor[motorC] = 50 ; wait1Msec(667) ;
	motor[motorB] = 100; motor[motorC] = 100; wait1Msec(2000);
	motor[motorB] = 0  ; motor[motorC] = 0  ; wait1Msec(500) ;
	motor[motorB] = -100; motor[motorC] = 50 ; wait1Msec(667) ;
	motor[motorB] = 100; motor[motorC] = 100; wait1Msec(2000);
	motor[motorB] = 0  ; motor[motorC] = 0  ; wait1Msec(500) ;
	motor[motorB] = -100; motor[motorC] = 50 ; wait1Msec(750) ;
}

/* Square Source Code*/
void square(){
	motor[motorB] = 100; motor[motorC] = 100; wait1Msec(2000);
	motor[motorB] = 0  ; motor[motorC] = 0  ; wait1Msec(500) ;
	motor[motorB] = -50; motor[motorC] = 50 ; wait1Msec(950) ;
	motor[motorB] = 100; motor[motorC] = 100; wait1Msec(2000);
	motor[motorB] = 0  ; motor[motorC] = 0  ; wait1Msec(500) ;
	motor[motorB] = -50; motor[motorC] = 50 ; wait1Msec(950) ;
	motor[motorB] = 100; motor[motorC] = 100; wait1Msec(2000);
	motor[motorB] = 0  ; motor[motorC] = 0  ; wait1Msec(500) ;
	motor[motorB] = -50; motor[motorC] = 50 ; wait1Msec(950) ;
	motor[motorB] = 100; motor[motorC] = 100; wait1Msec(2000);
	motor[motorB] = 0  ; motor[motorC] = 0  ; wait1Msec(500) ;
	motor[motorB] = -50; motor[motorC] = 50 ; wait1Msec(950) ;
	motor[motorB] = 0  ; motor[motorC] = 0  ;
}

/* Circle Source Code */
void circle(){
	motor[motorB] = 0  ; motor[motorC] = 0  ; wait1Msec(500);
	motor[motorB] = 50 ; motor[motorC] = 100; wait1Msec(7645);
	motor[motorB] = 0  ; motor[motorC] = 0  ;
}	


task main()
{
	while (true)
	{
		int applauses = 0;
		ClearTimer(T1);
		wait1Msec(1000);
		while (time1[T1] < 2000)
		{
			if (SensorValue[soundSensor] > 70)
			{
				applauses++;
				wait1Msec(500);
				ClearTimer(T1);
			}
		}
			if (applauses == 1)
			{
				square();
			}
			else if (applauses == 2)
			{
				triangle();
			}
			else if (applauses == 3)
			{
				circle();
			}
	}
}