autonomous.c

#pragma config(Motor,  motorA,          leftMotor,     tmotorNXT, PIDControl, encoder)
#pragma config(Motor,  motorB,          rightMotor,    tmotorNXT, PIDControl, encoder)
#pragma config(Sensor, S4,     colorSensor,         sensorCOLORFULL)

#include "Simple Car Header.c"
/*
 ___________________________________
|                                   |
|    /========================\     |
|   | AUTOMATED PERIOD DIAGRAM |    |
|    \========================/     |
|                                   |
|             |       |             |
|             |  If   |             |
|             | Plate |             |
|             |  is   |             |
|             | Green |             |
|             |       |             |
| ____________| _____ |____________ |
|              /     \              |
|   If Plate  |  RGB  |  If Plate   |
|    is Red   | Plate |  is Blue    |
| ____________ \_____/ ____________ |
|             |       |             |
|             |       |             |
|             |       |             |
|             |       |             |
|             | WHITE |             |
|             |       |             |
|             |  ___  |             |
|             | |CAR| |             |
|             | |___| |             |
|___________________________________|

*/


//Global variables
int velocity = 50;
int pause = 1000;
char* red = "RED";
char* green = "GREEN";
char* blue = "BLUE";


//Instance-Specific Functions
int motorsForwardUntilChange(){
  int val;
	while(!(strcmp(ROBOgetColor, "RED") || strcmp(ROBOgetColor, "GREEN") || strcmp(ROBOgetColor, "BLUE"))){
		ROBOforward(velocity);
	}
	if (strcmp(ROBOgetColor, "RED"))
		val = 1;
	else if (strcmp(ROBOgetColor, "BLUE"))
		val = 2;
	else
		val = 3;
	wait1Msec(500);
	ROBOstop();
	wait1Msec(pause);
	return val;
}


void motorsForwardToEnd(){
	ROBOforward(velocity);
	wait1Msec(5000);

	ROBOstop();
	wait1Msec(pause);
}


//Actual Autonomous-Period Actions
void autonomous(){
	int val = motorsForwardUntilChange();

	if(val == 1)
		ROBOleft(velocity);
	else if(val == 2)
		ROBOright(velocity);

		wait1Msec(1000);
	motorsForwardUntilChange();
}


//Starting Point of the program
task main(){
	autonomous();

}

main.c

#pragma config(Motor,  motorA, leftMotor,     tmotorNXT, PIDControl, encoder) 
#pragma config(Motor,  motorB, rightMotor,    tmotorNXT, PIDControl, encoder) 
#pragma config(Sensor, S1,     touchSensor,	  sensorTouch)                      
                                                                                     
#include "JoystickDriver.c"                                                         
                                                                                   
#define THRESHOLD 0                                                              
             
float speed = 1.0; 
             
float leftMotor(joy1, joy2) {
	return joy1 * speed; 	
}

float rightMotor(joy1, joy2) {
	return joy2 * speed; 
}
                                                                                 
task main(){                                                                     
	long count = 0;                                                                                                                                                                               
                                                                           
	while(true) {                                                                                                                                     
		getJoystickSettings(joystick);                                     
		
		motor[motor1] = leftMotor(joystick.joy1_y1*100/127, joystick.joy1_y2*100/127);
		motor[motor2] = rightMotor(joystick.joy1_y1*100/127, joystick.joy1_y2*100/127);                                                 
                                                      
		                                                 
		int touch = SensorValue[touchSensor];           
		 
		if(count <= 50000) {                
			if(count == 30000){              
				PlaySound(soundUpwardTones);  
				speed = 1;                   
			}
			count++;                   
		} else if(touch == 1) {            
			PlaySound(soundDownwardTones);             
			speed *= .37;                          
			count = 0;                          
		}                               		                           
	}                            
}