C-Day demo NXShield-Mx &Arduino adk

//BBS1右馬達

//BBS2左馬達

//BAS1夾馬達

#include 

#include 

#include 

NXShield          nxshield;

NXTLight    light1;

NXTLight    light2;

int lv1 = 0;//1

int lv2 = 0;//2光感量測值

int lmv1 = 550;//1光感中間值

int lmv2 = 550;//2

int ld = 50;

int rd = 50;

void setup()

{

  Serial.begin(115200); 

  nxshield.init( SH_HardwareI2C );

  light1.init( &nxshield, SH_BAS1 );

  light2.init( &nxshield, SH_BAS2 );

  light1.setReflected();

  light2.setReflected();

  Serial.println ("Press GO button to continue");

  nxshield.waitForButtonPress(BTN_GO);

  nxshield.bank_a.motorReset();

  nxshield.bank_b.motorReset();

  lv1 = light1.readRaw();

  lv2 = light2.readRaw();

   nxshield.bank_a.motorRunUnlimited(SH_Motor_1, SH_Direction_Forward,75);

  delay(500);

    nxshield.bank_a.motorStop(SH_Motor_Both, SH_Next_Action_Float);

   while(lmv1>lv1 || lmv2>lv2)

  {

    lv1 = light1.readRaw();

    lv2 = light2.readRaw();

    if(lmv1

    { 

       nxshield.bank_b.motorStop(SH_Motor_2, SH_Next_Action_BrakeHold); 

       nxshield.bank_b.motorRunUnlimited(SH_Motor_1, SH_Direction_Reverse,75);

    }

    else if(lmv2

    { 

       nxshield.bank_b.motorStop(SH_Motor_1, SH_Next_Action_BrakeHold); 

       nxshield.bank_b.motorRunUnlimited(SH_Motor_2, SH_Direction_Reverse,75);

    }

    else

    {

       nxshield.bank_b.motorRunUnlimited(SH_Motor_1, SH_Direction_Reverse,50);

       nxshield.bank_b.motorRunUnlimited(SH_Motor_2, SH_Direction_Reverse,50);

    }

  }

  Stop();

  delay(100);

  nxshield.bank_b.motorRunUnlimited(SH_Motor_1, SH_Direction_Reverse,50);

  nxshield.bank_b.motorRunUnlimited(SH_Motor_2, SH_Direction_Reverse,50);

  delay(1000);

  nxshield.bank_b.motorStop(SH_Motor_2, SH_Next_Action_BrakeHold);

  nxshield.bank_b.motorRunDegrees(SH_Motor_1, SH_Direction_Reverse,75,100,SH_Completion_Wait_For,SH_Next_Action_BrakeHold);

  nxshield.bank_b.motorStop(SH_Motor_Both, SH_Next_Action_BrakeHold);

  delay(200);

  nxshield.bank_a.motorRunUnlimited(SH_Motor_1, SH_Direction_Reverse,100);

  delay(1000);

  nxshield.bank_b.motorStop(SH_Motor_1, SH_Next_Action_BrakeHold);

  nxshield.bank_b.motorRunDegrees(SH_Motor_1, SH_Direction_Forward,75,75,SH_Completion_Wait_For,SH_Next_Action_BrakeHold);

  Stop();

  delay(200);

  lv1 = light1.readRaw();

  lv2 = light2.readRaw();

  while(lmv1>lv1 || lmv2>lv2)

  {

    lv1 = light1.readRaw();

    lv2 = light2.readRaw();

    if(lmv1

    { 

       nxshield.bank_b.motorStop(SH_Motor_2, SH_Next_Action_BrakeHold); 

       nxshield.bank_b.motorRunUnlimited(SH_Motor_1, SH_Direction_Reverse,75);

    }

    else if(lmv2

    { 

       nxshield.bank_b.motorStop(SH_Motor_1, SH_Next_Action_BrakeHold); 

       nxshield.bank_b.motorRunUnlimited(SH_Motor_2, SH_Direction_Reverse,75);

    }

    else

    {

       nxshield.bank_b.motorRunUnlimited(SH_Motor_1, SH_Direction_Reverse,50);

       nxshield.bank_b.motorRunUnlimited(SH_Motor_2, SH_Direction_Reverse,50);

    }

  }

  Stop();

  delay(100);

  nxshield.bank_b.motorRunUnlimited(SH_Motor_1, SH_Direction_Reverse,75);

  nxshield.bank_b.motorRunUnlimited(SH_Motor_2, SH_Direction_Reverse,75);

  delay(200);

  Stop();

  delay(100);

  lv1 = light1.readRaw();

    lv2 = light2.readRaw();

  while(lmv1>lv1 || lmv2>lv2)

  {

    lv1 = light1.readRaw();

    lv2 = light2.readRaw();

    if(lmv1

    { 

       nxshield.bank_b.motorStop(SH_Motor_2, SH_Next_Action_BrakeHold); 

       nxshield.bank_b.motorRunUnlimited(SH_Motor_1, SH_Direction_Reverse,100);

    }

    else if(lmv2

    { 

       nxshield.bank_b.motorStop(SH_Motor_1, SH_Next_Action_BrakeHold); 

       nxshield.bank_b.motorRunUnlimited(SH_Motor_2, SH_Direction_Reverse,100);

    }

    else

    {

       nxshield.bank_b.motorRunUnlimited(SH_Motor_1, SH_Direction_Reverse,50);

       nxshield.bank_b.motorRunUnlimited(SH_Motor_2, SH_Direction_Reverse,50);

    }

  }

  Stop();

  delay(100);

  nxshield.bank_b.motorRunUnlimited(SH_Motor_1, SH_Direction_Reverse,75);

  nxshield.bank_b.motorRunUnlimited(SH_Motor_2, SH_Direction_Reverse,75);

  delay(500);

  Stop();

  delay(100);

  nxshield.bank_a.motorRunUnlimited(SH_Motor_1, SH_Direction_Forward,75);

  delay(200);

  nxshield.bank_a.motorStop(SH_Motor_1, SH_Next_Action_BrakeHold);

  Stop();

  delay(100);

}

void loop()

{

}//空