[3/29_C-Day有什麼?]系列之四:台北市校際盃機器人選拔賽(三)- 使用Arduino uno與NXShield

#include <Wire.h>

#include <NXShield.h>



NXShield nxshield;

//引入必要函式庫與新增NXShield變數

void setup() {

 

  delay(500);

  nxshield.init(SH_HardwareI2C);//初始化I2C

  nxshield.bank_a.motorReset();//初始化馬達

  nxshield.bank_a.motorReset();

  nxshield.waitForButtonPress(BTN_LEFT);//等待按下左鍵才開始(NXShield板子上有四個按鍵分別是RIGHT,LEFT,RESET,GO)

 

}



void loop() {

  

  delay(5000);

  nxshield.bank_b.motorRunUnlimited(SH_Motor_1, SH_Direction_Forward, 20);//Bank B 的Motor-1以馬力20正轉，機器人將手臂往下壓

  delay(2000);

  nxshield.bank_a.motorRunUnlimited(SH_Motor_Both, SH_Direction_Reverse, 20);//Bank A 的Motor-1,Motor-2以馬力20反轉，向前進

  delay(2000); 

  nxshield.bank_a.motorRunUnlimited(SH_Motor_Both, SH_Direction_Forward, 30);//Bank A 的Motor-1,Motor-2以馬力20反轉，碰到蓋子後向後退

  delay(500); 

  nxshield.bank_a.motorStop(SH_Motor_Both, SH_Next_Action_BrakeHold);//Bank A 的Motor-1,Motor-2停止鎖死

  nxshield.bank_b.motorRunDegrees(SH_Motor_1, 

                     SH_Direction_Reverse, 

                     60,

                     70, 

                     SH_Completion_Wait_For,

                     SH_Next_Action_BrakeHold);//Bank B 的Motor-1以馬力60反轉70度，機器人手臂向上抬一個角度

                     

   nxshield.bank_a.motorRunDegrees(SH_Motor_Both, 

                     SH_Direction_Reverse, 

                     30,

                     230, 

                     SH_Completion_Wait_For,

                     SH_Next_Action_BrakeHold);

                     //Bank A 的Motor-1,Motor-2以馬力30反轉230度，機器人向前進一小段距離，只要改變這段距離就可以解決正方形或者是三角形的題型

                     

   nxshield.bank_b.motorRunUnlimited(SH_Motor_1, SH_Direction_Forward, 100);//Bank B 的Motor-1以馬力100正轉，機器人將手臂全力往下壓

   for(int i = 0; i < 5; i++)

   {

     nxshield.bank_a.motorRunUnlimited(SH_Motor_Both, SH_Direction_Reverse, 30);

     delay(130);

     nxshield.bank_a.motorRunUnlimited(SH_Motor_Both, SH_Direction_Forward, 30);

     delay(100);

   }//前後來回壓球，使得進球率變高

   nxshield.bank_a.motorStop(SH_Motor_Both, SH_Next_Action_BrakeHold);//Bank A 的Motor-1,Motor-2停止鎖死

   

   nxshield.bank_b.motorRunUnlimited(SH_Motor_1, SH_Direction_Reverse, 100);//Bank B 的Motor-1以馬力100轉，機器人將手臂全力往下上舉，把球收今去

   delay(300);

   nxshield.bank_b.motorStop(SH_Motor_1, SH_Next_Action_BrakeHold);//Bank B 的Motor-1停止鎖死



   nxshield.bank_a.motorRunDegrees(SH_Motor_Both, 

                     SH_Direction_Forward, 

                     30,

                     210, 

                     SH_Completion_Wait_For,

                     SH_Next_Action_BrakeHold);//機器人退回原位

   while(true){;}//無限迴圈當作程式的終點，方便觀察

   

}