//PROGRAM # 5

// scanner2-// Scanner2- Same as scanner program (above) with BUMP A LOT incorporated

// (FOR FUN, set light threshold to local cat color: rename program CAT CHASER)

// sensors- Calls the sensors at port 1 “EYE”, port 2 “BUMP”, & port 3 “ANGLE”

#define EYE SENSOR_1

#define ANGLE SENSOR_3

#define BUMP SENSOR_2

// motors- Calls the motors “LEFT”, “RIGHT”, and “HEAD”

#define LEFT OUT_A

#define HEAD OUT_B

#define RIGHT OUT_C

// other constants

#define SLOP 2 //buffer to prevent unnecessary zig-zags

#define CENTER 53 //center of rotation sensor sweep (in steps)

#define SWEEP 48 // 135 degrees

#define ALIGN_TIME 300 // 3 seconds

#define TURN_TIME 75 //3/4 second

#define THRESHOLD 35 //for light sensor

#define REV_TIME 50 //1/2 second

#define SPIN_TIME 70 //7/10 second

void align() //sets rotation sensor to a starting position

{

Rev(HEAD); //sets motor in backward direction

OnFor(HEAD, ALIGN_TIME); // turns light sensor to left

Off(HEAD); // stop turning

Fwd(HEAD); // prepare for later activation

ClearSensor(ANGLE); // make this position "0"

}

task main()

{

// configure sensors

SetSensor(EYE, SENSOR_LIGHT); //sensor 1 is light sensor

SetSensor(ANGLE, SENSOR_ROTATION); //sensor 3 is rotation sensor

SetSensor(BUMP, SENSOR_TOUCH); //sensor 2 is touch sensor

align(); //calls inline function “align”

// look and go...

On(LEFT+RIGHT+HEAD); //all three motors on

// begin task “look” & “bump”

start look;

start bump;

// keep looking back and forth

while(true) //necessary or RCX will only perform task once

{

if (ANGLE < CENTER-SWEEP) //if position of motor “HEAD” is all

{ //the way to the left…

Fwd(HEAD); //turn the other way

}

else if (ANGLE > CENTER+SWEEP) //if position of motor “HEAD” is

{ //all the way to the right…

Rev(HEAD); // turn the other way

}

}//while

}//task

//if light sensor detects a value greater than the threshold value, the motor

//turning the light sensor will stop and the robot will turn toward the light

task look()

{

while(true) //necessary to perform more then once

{

if (EYE >= THRESHOLD) //light sensor detects bright light

{

Off(HEAD); // stop looking

PlaySound(SOUND_CLICK); //makes clicking noise

if (ANGLE < CENTER-SLOP) //if light is to the left…

{

// turn left

Rev(LEFT);

Wait(TURN_TIME);

Fwd(LEFT);

}

else if (ANGLE > CENTER+SLOP) //if light is to the right…

{

// turn right

Rev(RIGHT);

Wait(TURN_TIME);

Fwd(RIGHT);

}

On(HEAD); // resume looking

}//if

}//while

}//task

//this task has the robot back up, turn (random right or left) and move forward

//if the touch sensor is pressed. It also plays a sound before turning

task bump()

{

while(true) //necessary or RCX will only perform task once

{

until(BUMP==1); //touch sensor pressed

{

int x = Random(2); //x is random variable (either 0 or 1)

if (x<1) //if x is 0, play “right” sound and turn right

{

sound(); //Calls inline function “sound”

// back up

Rev(LEFT+RIGHT);

Wait(REV_TIME);

// spin around

Fwd(LEFT);

Wait(TURN_TIME);

// resume

Fwd(RIGHT);

}

else //if x is 1, play “left” sound and turn left

{

sound2(); //calls inline function “playsoundL”

// back up

Rev(LEFT+RIGHT);

Wait(REV_TIME);

// spin around

Fwd(RIGHT);

Wait(TURN_TIME);

// resume

Fwd(LEFT);

}

}

}

//inline function plays note at frequency 440 for 1/2 second

void sound()

{

PlayTone(440,50);

}

//inline function plays note at frequency 660 for 1/2 second

void sound2()

{

PlayTone(660,50);

}