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Task 1, ClauTIC League, by MadTeam

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This i s the task 1 of the ClauTIC robotics league by MAD Team.

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  1. #include <Servo.h>
  2. Servo miservo;
  3. int Motor_Esq=7, Velocitat_Esq=6, Motor_Dret=12, Velocitat_Dret=10; //Declarem motors
  4. int t=0;
  5. int i = 0;
  6.  
  7. void setup()
  8. {
  9.     pinMode(Motor_Esq, OUTPUT);
  10.     pinMode(Velocitat_Esq, OUTPUT);
  11.     pinMode(Motor_Dret, OUTPUT);
  12.     pinMode(Velocitat_Dret, OUTPUT);
  13.     miservo.attach(3);
  14. }
  15.  
  16. void loop()
  17. {
  18.     if(t == 0)
  19.      {
  20.        //des de la base fins la primera piramide
  21.         Motor_Rodes(HIGH, -250,HIGH,-250);
  22.         delay(2300);
  23.  
  24.       // gir a la dreta per colocar-se be a la primera piramide
  25.         Motor_Rodes(HIGH, -164,LOW,-10);
  26.         delay(1100);
  27.  
  28.       // avançar per descarregar primera piramide
  29.         Motor_Rodes(HIGH, -250,HIGH,-250);
  30.         delay(285);
  31.         Motor_Rodes(LOW, 0,LOW,0);
  32.         delay(50);
  33.  
  34.       // descarregar primera piramide
  35.         descarrega();
  36.  
  37.       // avançar fins segona piramide
  38.         Motor_Rodes(HIGH, -250,HIGH,-250);
  39.         delay(990);
  40.         Motor_Rodes(LOW, 0,LOW,0);
  41.         delay(10);
  42.  
  43.  
  44.       // descarregar segona piramide
  45.         descarrega();
  46.  
  47.  
  48.       // girar per posicio tercera piramide
  49.         Motor_Rodes(HIGH, -250,LOW,0);
  50.         delay(900);
  51.         Motor_Rodes(LOW, 0,LOW,0);
  52.         delay(10);
  53.  
  54.       // descarregar tercera piramide
  55.         descarrega();
  56.  
  57.       // tornar a la base
  58.         Motor_Rodes(HIGH, -250,HIGH,-100);
  59.         delay(3200);
  60.         Motor_Rodes(LOW, 0,LOW,0);
  61.  
  62.       t++;      
  63.      }    
  64. }
  65.  
  66. void Motor_Rodes (char Motor_Esq_Estat, int Motor_Esq_Potencia, char Motor_Dret_Estat, int Motor_Dret_Potencia)
  67. {
  68.       digitalWrite(Motor_Esq, Motor_Esq_Estat);
  69.       analogWrite(Velocitat_Esq, Motor_Esq_Potencia);
  70.       digitalWrite(Motor_Dret, Motor_Dret_Estat);
  71.       analogWrite(Velocitat_Dret, Motor_Dret_Potencia);
  72. }
  73.  
  74. void descarrega()
  75.   {
  76.       	miservo.write(180);
  77. 	delay(73);
  78. 	miservo.write(90);
  79. 	delay(1000);
  80.  
  81.  
  82.  
  83.   }

URL: www.mad-team.a78.org

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