LEGO MINDSTORMS Robots User Manual

#define FORWARD_MESSAGE 16
#define SPIN_MESSAGE 17
#define STOP_MESSAGE 18
#define GRAB_MESSAGE 19
#define RELEASE_MESSAGE 20
#define HEARTBEAT_MESSAGE 21
#define HEARTBEAT_TIME 20
task main() {
SetSensor(SENSOR_1, SENSOR_LIGHT);
SetSensor(SENSOR_2, SENSOR_TOUCH);
SetSensor(SENSOR_3, SENSOR_TOUCH);
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start lightWatcher;
start touchWatcher;
start heartbeat;
}
task touchWatcher() {
while (true) {
if (SENSOR_2 == 1) {
SendMessage (FORWARD_MESSAGE);
Wait(10);
until (SENSOR_2 == 0);
SendMessage (STOP_MESSAGE);
}
if (SENSOR_3 == 1) {
SendMessage (SPIN_MESSAGE);
Wait(10);
until (SENSOR_3 == 0);
SendMessage (STOP_MESSAGE);
}
}
}
#define TOLERANCE 3
int current;
int minimum;
int maximum;
int midline;
int lastArmMessage;
task lightWatcher() {
minimum = 100;
maximum = 0;
while (true) {
current = SENSOR_1;
if (current < minimum) minimum = current;
if (current > maximum) maximum = current;
midline = minimum + (maximum - minimum) / 2;
if (SENSOR_1 <= (midline - TOLERANCE) &&
lastArmMessage != RELEASE_MESSAGE) {

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