LEGO MINDSTORMS Robots User Manual

Page 187
SendMessage(MESSAGE_ACKNOWLEDGE);
PlaySound(4);
Wait(800);
ClearMessage();
taggedCommand = COMMAND_NONE;
}
}
}
int motorCommand;
task arbitrate() {
while(true) {
if (cruiseCommand != COMMAND_NONE) motorCommand = cruiseCommand;
if (tagCommand != COMMAND_NONE) motorCommand = tagCommand;
if (avoidCommand != COMMAND_NONE) motorCommand = avoidCommand;
if (taggedCommand != COMMAND_NONE) motorCommand = taggedCommand;
motorControl();
}
}
sub motorControl() {
if (motorCommand == COMMAND_FORWARD)
OnFwd(OUT_A + OUT_C);
else if (motorCommand == COMMAND_REVERSE)
OnRev(OUT_A + OUT_C);
else if (motorCommand == COMMAND_LEFT) {
OnRev(OUT_A);
OnFwd(OUT_C);
}
else if (motorCommand == COMMAND_RIGHT) {
OnFwd(OUT_A);
OnRev(OUT_C);
}
else if (motorCommand == COMMAND_STOP)
Off(OUT_A + OUT_C);
else if (motorCommand == COMMAND_FLOAT)
Float(OUT_A + OUT_C);
}
task main() {
initialize();
cruiseCommand = COMMAND_NONE;
tagCommand = COMMAND_NONE;
avoidCommand = COMMAND_NONE;
taggedCommand = COMMAND_NONE;
start cruise;
start tag;
start avoid;
start tagged;
start arbitrate;
}

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