LEGO MINDSTORMS Robots User Manual

Page 104
sub calibrate() {
// Take an average light reading.
i = 0;
runningTotal = 0;
while (i < NUMBER_OF_SAMPLES) {
runningTotal += SENSOR_3;
Wait(10);
i += 1;
}
threshold = runningTotal / NUMBER_OF_SAMPLES;
}
void grab() {
// Run the motor until we hit the limit switch.
OnFwd(OUT_A);
until (SENSOR_3 == 100);
// Back off from the switch.
OnRev(OUT_A);
until (SENSOR_3 != 100);
Off(OUT_A);
}
void release() {
// Run the motor until we hit the limit switch.
OnRev(OUT_A);
until (SENSOR_3 == 100);
// Back off from the switch.
OnFwd(OUT_A);
until (SENSOR_3 != 100);
Off(OUT_A);
}
int returnTime;
sub retrieve() {
// Drive forward until we see something.
OnFwd(OUT_C);
ClearTimer(0);
until (SENSOR_3 < threshold - 3);
Wait(20); // Move up on it a little.
returnTime = Timer(0);
Off(OUT_C);
grab();
// Turn around (roughly).
OnRev(OUT_C);
Wait(TURNAROUND_TIME);
// Drive back.
OnFwd(OUT_C);
ClearTimer(0);
until (Timer(0) >= returnTime);
Off (OUT_C);

LEGO MINDSTORMS Robots Specifications

General

Product Line	LEGO MINDSTORMS
Category	Toy
Age Range	10+
Batteries Required	Yes
Memory	64 MB RAM, 16 MB Flash
Connectivity	Bluetooth, USB
Sensors	Touch, Color, Gyro
Battery Type	AA
Interactive Features	Programmable, Remote Control
App Compatibility	iOS, Android
Processor	ARM9
Pieces Count	601
Battery Count	6
App Name	LEGO MINDSTORMS EV3 Programmer App