Alpha Tango
/
R5_Robotics
Important changes to repositories hosted on mbed.com
Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.
To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.
It is also possible to export all your personal repositories from the account settings page.
Diff: main.cpp
- Revision:
- 12:92ba52394c85
- Parent:
- 11:93c035708249
- Child:
- 13:2c8f8e77b549
diff -r 93c035708249 -r 92ba52394c85 main.cpp
--- a/main.cpp Sun Apr 01 00:50:47 2018 +0000
+++ b/main.cpp Sun Apr 01 01:46:03 2018 +0000
@@ -587,127 +587,316 @@
}
/*******************************************************************///Cyan
- if( i == 0 && color == 4 )
+ if( i == 0 && color == 4 )//condition for return Cyan at index 0
{
- //condition for return Cyan at index 0
+ move(2*leg + 0.3046*scale, FORWARD)
+ turnRight();
+ move(2*leg + 0.3046*scale, FORWARD)
+ dropToken();
+ rot180();
+ move(2*leg + 0.3046*scale, FORWARD)
+ turnLeft();
+ move(2*leg + 0.3046*scale, FORWARD)
+ rot180();
+ }
+ if( i == 1 && color == 4 )//condition for return Cyan at index 1
+ {
+ move(leg + 0.3046*scale, FOWARD);
+ turnRight();
+ move(2*leg + 0.3046*scale, FOWARD);
+ dropToken();
+ rot180();
+ move(2*leg + 0.3046*scale, FOWARD);
+ turnleft();
+ move(leg + 0.3046*scale, FOWARD);
+ rot180();
}
- if( i == 1 && color == 4 )
+ if( i == 2 && color == 4 )//condition for return Cyan at index 2
{
- //condition for return Cyan at index 1
+ move(2*leg + 0.3046*scale, FOWARD);
+ turnLeft();
+ move(0.3046*scale);
+ dropToken();
+ rot180();
+ move(0.3046*scale);
+ turnRight();
+ move(2*leg + 0.3046*scale, FOWARD);
+ rot180();
}
- if( i == 2 && color == 4 )
+ if( i == 4 && color == 4 )//condition for return Cyan at index 4
{
- //condition for return Cyan at index 2
+ rot180();
+ move(0.3046*scale, FORWARD);
+ turnRight();
+ move(0.3046*scale, FORWARD);
+ dropToken();
+ rot180();
+ move(0.3046*scale, FORWARD);
+ turnLeft();
+ move(0.3046*scale, FORWARD);
+ turnleft();
+ move(0.3046*scale, FORWARD);
+ turnRight();
}
- if( i == 4 && color == 4 )
+ if( i == 5 && color == 4 )//condition for return Cyan at index 5
{
- //condition for return Cyan at index 4
+ rot180();
+ move(leg + 0.3046*scale, FORWARD);
+ turnRight();
+ move(0.3046*scale, FORWARD);
+ dropToken();
+ rot180();
+ move(0.3046*scale, FORWARD);
+ turnLeft();
+ move(leg + 0.3046*scale, FORWARD);
}
- if( i == 5 && color == 4 )
+ if( i == 6 && color == 4 )//condition for return Cyan at index 6
{
- //condition for return Cyan at index 5
-
- }
- if( i == 6 && color == 4 )
- {
- //condition for return Cyan at index 6
+ turnRight();
+ move(2*leg + 0.3046*scale, FORWARD);
+ turnRight();
+ move(0.3046*scale, FORWARD);
+ dropToken();
+ rot180();
+ move(0.3046*scale, FORWARD);
+ turnLeft();
+ move(leg + 0.3046*scale, FORWARD);
+ turnRight();
}
/*******************************************************************///Magenta
- if( i == 0 && color == 5 )
+ if( i == 0 && color == 5 )//condition for return Magenta at index 0
{
- //condition for return Magenta at index 0
+ move(leg, FORWARD);
+ turnRight();
+ move(2*leg + 0.3046*scale);
+ dropToken();
+ rot180();
+ move(2*leg + 0.3046*scale);
+ turnLeft();
+ move(leg, FORWARD);
+ rot180();
}
- if( i == 1 && color == 5 )
+ if( i == 1 && color == 5 )//condition for return Magenta at index 1
{
- //condition for return Magenta at index 1
+ turnRight();
+ move(2*leg + 0.3046*scale);
+ dropToken();
+ rot180();
+ move(2*leg + 0.3046*scale);
+ turnRight();
+
+ }
+ if( i == 2 && color == 5 )//condition for return Magenta at index 2
+ {
+ move(leg + 0.3046*scale, FORWARD);
+ turnRight();
+ move(leg, FORWARD);
+ dropToken();
+ rot180();
+ move(leg, FORWARD);
+ turnLeft();
+ move(2*leg + 0.3046*scalem FORWARD);
+ rot180();
}
- if( i == 2 && color == 5 )
+ if( i == 4 && color == 5 )//condition for return Magenta at index 4
{
- //condition for return Magenta at index 2
+ move(leg, FORWARD);
+ turnLeft();
+ move(0.3046*scale);
+ dropToken();
+ rot180();
+ move(0.3046*scale);
+ turnRight();
+ Move(leg, FORWARD);
+ rot180();
}
- if( i == 4 && color == 5 )
+ if( i == 5 && color == 5 )//condition for return Magenta at index 5
{
- //condition for return Magenta at index 4
+ turnLeft();
+ move(0.3046*scale);
+ dropToken();
+ rot180();
+ move(0.3046*scale);
+ turnLeft();
}
- if( i == 5 && color == 5 )
+ if( i == 6 && color == 5 )//condition for return Magenta at index 6
{
- //condition for return Magenta at index 5
-
- }
- if( i == 6 && color == 5 )
- {
- //condition for return Magenta at index 6
+ rot180();
+ move(leg, FORWARD);
+ turnRight();
+ move(0.3046*scale);
+ dropToken();
+ rot180();
+ move(0.3046*scale);
+ turnLeft();
+ move(lef, FORWARD);
+ turnRight();
}
/*******************************************************************///Yellow
- if( i == 0 && color == 6 )
+ if( i == 0 && color == 6 )//condition for return Yellow at index 0
{
- //condition for return Yellow at index 0
+ turnRight();
+ move(2*leg + 0.3046*scale);
+ turnRight();
+ move(0.3046*scale);
+ dropToken();
+ rot180();
+ move(0.3046*scale);
+ turnLeft();
+ move(2*leg + 0.3046*scale);
+ turnRight();
}
- if( i == 1 && color == 6 )
+ if( i == 1 && color == 6 )//condition for return Yellow at index 1
{
- //condition for return Yellow at index 1
+ rot180();
+ move(leg + 0.3046*scale, FORWARD);
+ turnLeft();
+ move(2*leg, FORWARD);
+ dropToken();
+ rot180();
+ move(2*leg, FOWARD);
+ turnRight();
+ move(leg + 0.3046*scale, FORWARD);
+
}
- if( i == 2 && color == 6 )
+ if( i == 2 && color == 6 )//condition for return Yellow at index 2
{
- //condition for return Yellow at index 2
+ move(2*leg + 0.3046*scale, FORWARD);
+ turnRight();
+ move(2*leg, FORWARD);
+ dropToken();
+ rot180();
+ move(2*leg, FORWARD);
+ turnLeft();
+ move(2*leg + 0.3046*scale, FORWARD);
+ rot180();
}
- if( i == 4 && color == 6 )
+ if( i == 4 && color == 6 )//condition for return Yellow at index 4
{
- //condition for return Yellow at index 4
+ move(2*leg + 0.3046*scale, FORWARD);
+ turnLeft();
+ move(0.3046*scale, FORWARD);
+ dropToken();
+ rot180(0);
+ move(0.3046*scale, FORWARD);
+ turnRight();
+ move(2*leg + 0.3046*scale, FORWARD);
+ rot180();
+
}
- if( i == 5 && color == 6 )
+ if( i == 5 && color == 6 )//condition for return Yellow at index 5
{
- //condition for return Yellow at index 5
+ move(leg + 0.3046*scale, FORWARD);
+ turnLeft();
+ move(0.3046*scale, FORWARD);
+ dropToken();
+ rot180();
+ move(0.3046*scale, FORWARD);
+ turnRight();
+ move(Leg + 0.3046*scale, FORWARD);
+ rot180();
+
}
- if( i == 6 && color == 6 )
+ if( i == 6 && color == 6 )//condition for return Yellow at index 6
{
- //condition for return Yellow at index 6
+ rot180();
+ move(0.3046*scale, FORWARD);
+ turnRight();
+ move(0.3046*scale, FORWARD);
+ dropToken();
+ rot180();
+ move(0.3046*scale, FORWARD);
+ turnLeft();
+ move(0.3046*scale, FORWARD);
}
/*******************************************************************///Gray
- if( i == 0 && color == 7 )
+ if( i == 0 && color == 7 )//condition for return Gray at index 0
{
- //condition for return Gray at index 0
+ move(leg, FORWARD);
+ turnRight();
+ move(leg, FORWARD);
+ dropToken();
+ rot180();
+ move(leg, FORWARD);
+ turnLeft();
+ move(leg, FORWARD);
+
}
- if( i == 1 && color == 7 )
+ if( i == 1 && color == 7 )//condition for return Gray at index 1
+ {
+ turnRight();
+ move(leg, FORWARD);
+ dropToken();
+ rot180();
+ move(leg, FORWARD);
+ turnRight();
+ }
+ if( i == 2 && color == 7 ) //condition for return Gray at index 2
{
- //condition for return Gray at index 1
+ rot180();
+ move(leg, FORWARD);
+ turnLeft();
+ move(leg, FORWARD);
+ dropToken();
+ rot180();
+ move(leg, FORWARD);
+ turnRight();
+ move(leg, FORWARD);
+ turnRight();
}
- if( i == 2 && color == 7 )
+ if( i == 4 && color == 7 ) //condition for return Gray at index 4
{
- //condition for return Gray at index 2
+ move(leg, FORWARD);
+ turnRight();
+ move(leg, FORWARD);
+ dropToken();
+ rot180();
+ move(leg, FORARD);
+ turnLeft();
+ move(lef, FORWARD);
+ rot180();
}
- if( i == 4 && color == 7 )
+ if( i == 5 && color == 7 )//condition for return Gray at index 5
{
- //condition for return Gray at index 4
+ turnRight();
+ move(leg, FORWARD);
+ dropToken();
+ rot180();
+ move(leg, FORWARD);
+ turnRight();
}
- if( i == 5 && color == 7 )
+ if( i == 6 && color == 7 )//condition for return Gray at index 6
{
- //condition for return Gray at index 5
-
- }
- if( i == 6 && color == 7 )
- {
- //condition for return Gray at index 6
+ turnRight();
+ move(leg, FORWARD);
+ turnLeft();
+ move(leg, FORWARD);
+ dropToken();
+ rot180();
+ move(leg, FORWARD);
+ rightRight();
+ move(leg, FORWARD);
+ turnRight();
}
else