Explorer Post 1010: Botball 2007 Research Project, Team 07-0129

Botball 2007 Research Project

Code for the Experiment

// Plant Shade Program
#define shade_arm 0 // Servo port 0
#define sun_sensor 5 // Analog port 5
#define plant_sensor 6 // Analog port 6
#define shade_opened 170 // Servo setting for opened shade
#define shade_closed 50 // Servo setting for closed shade

int main() {
int sun_value = 0;
int plant_value = 0;
int shade_position = 0;
int sun_sum = 0;
int shade_sum = 0;

printf("Cumulative Control\n");
printf("Press A to start, then hold B to stop\n");
while(a_button()==0);
beep();
set_servo_position(shade_arm,shade_opened);
sleep(2.0);
sun_sum = 3000;

while(b_button()==0) {
    sun_value = analog(sun_sensor);
    plant_value = analog(plant_sensor);
    sun_sum = sun_sum-(255-sun_value);
    printf("accumulator = %d\n",sun_sum);
    if (sun_sum<0) {
      // Too much sun
      set_servo_position(shade_arm,shade_closed);
      sleep(3.0);
      // Start the day over again
      set_servo_position(shade_arm,shade_opened);
      sun_sum = 3000;
    }
    sleep(1.0);
}

beep();
set_servo_position(shade_arm,shade_opened);
sleep(2.0);
display_clear();

disable_servos();
return 0;
}