{"mode":"Blocks","hardwareTarget":"brain","workspace":"myVariableblockTurn on the Optical light to allow it to see the block color betterOptical2onThis variable changes to which block out of the 5 the robot is currently onblock15Move to the blockfwdmmfalse305leftfalse90fwdmmfalse1501Detects if the block color is redOptical2redIf the block is red the claw will closeClawMotorfwddegfalse30revmmfalse150rightfalse901650mm is the distance to the end of the fieldThe block times 300mm is subtracted to get the distance from the current block to the endE.g. if on the 3rd block, 1650 - 900 = 750 which is the remaining distance to the endfwdmmfalse2001650block300Open the claw and go backClawMotordegfalse0revmmfalse2001650block300Changes the variable as it is now moving onto the next blockblock1If the block is not red then the robot will drive back to the centerrevmmfalse150rightfalse90Changes the variable as it is now moving onto the next blockblock1","robotConfig":[{"port":[1,6,0],"name":"Drivetrain","customName":false,"deviceType":"Drivetrain","deviceClass":"smartdrive","setting":{"type":"2-motor","wheelSize":"200mm","gearRatio":"1:1","direction":"fwd","gyroType":"integrated","width":"173","unit":"mm","wheelbase":"76","wheelbaseUnit":"mm","xOffset":"0","yOffset":"0","thetaOffset":"0"},"triportSourcePort":22},{"port":[4],"name":"ClawMotor","customName":true,"deviceType":"Motor","deviceClass":"motor","setting":{"reversed":"false","fwd":"forward","rev":"reverse"},"triportSourcePort":22},{"port":[2],"name":"Optical2","customName":false,"deviceType":"Optical","deviceClass":"optical","setting":{},"triportSourcePort":22}],"slot":0,"platform":"IQ","sdkVersion":"20230818.11.00.00","appVersion":"4.0.7","minVersion":"3.0.0","fileFormat":"1.3.0","targetBrainGen":"Second","v5SoundsEnabled":false,"downloadLanguage":"python","cppStatus":"true","cpp":"// Make sure all required headers are included.\n#include \n#include \n#include \n#include \n#include \n\n\n#include \"vex.h\"\n\nusing namespace vex;\n\n// Brain should be defined by default\nbrain Brain;\n\n\n// START IQ MACROS\n#define waitUntil(condition) \\\n do { \\\n wait(5, msec); \\\n } while (!(condition))\n\n#define repeat(iterations) \\\n for (int iterator = 0; iterator < iterations; iterator++)\n// END IQ MACROS\n\n\n// Robot configuration code.\ninertial BrainInertial = inertial();\nmotor LeftDriveSmart = motor(PORT1, 1, false);\nmotor RightDriveSmart = motor(PORT6, 1, true);\n\nsmartdrive Drivetrain = smartdrive(LeftDriveSmart, RightDriveSmart, BrainInertial, 200);\n\nmotor ClawMotor = motor(PORT4, false);\noptical Optical2 = optical(PORT2);\n\n\n// generating and setting random seed\nvoid initializeRandomSeed(){\n wait(100,msec);\n double xAxis = BrainInertial.acceleration(xaxis) * 1000;\n double yAxis = BrainInertial.acceleration(yaxis) * 1000;\n double zAxis = BrainInertial.acceleration(zaxis) * 1000;\n // Combine these values into a single integer\n int seed = int(\n xAxis + yAxis + zAxis\n );\n // Set the seed\n srand(seed); \n}\n\nbool vexcode_initial_drivetrain_calibration_completed = false;\nvoid calibrateDrivetrain() {\n wait(200, msec);\n Brain.Screen.print(\"Calibrating\");\n Brain.Screen.newLine();\n Brain.Screen.print(\"Inertial\");\n BrainInertial.calibrate();\n while (BrainInertial.isCalibrating()) {\n wait(25, msec);\n }\n vexcode_initial_drivetrain_calibration_completed = true;\n // Clears the screen and returns the cursor to row 1, column 1.\n Brain.Screen.clearScreen();\n Brain.Screen.setCursor(1, 1);\n}\n\nvoid vexcodeInit() {\n\n // Calibrate the Drivetrain\n calibrateDrivetrain();\n\n // Initializing random seed.\n initializeRandomSeed(); \n}\n\n\n// Generated code.\n\n// Include the IQ Library\n#include \"vex.h\"\n \n// Allows for easier use of the VEX Library\nusing namespace vex;\n\nfloat myVariable, block;\n\n// \"when started\" hat block\nint whenStarted1() {\n // Turn on the Optical light to allow it to see the block color better\n Optical2.setLight(ledState::on);\n // This variable changes to which block out of the 5 the robot is currently on\n block = 1.0;\n repeat(5) {\n // Move to the block\n Drivetrain.driveFor(forward, 305.0, mm, true);\n Drivetrain.turnFor(left, 90.0, degrees, true);\n Drivetrain.driveFor(forward, 150.0, mm, true);\n wait(1.0, seconds);\n // Detects if the block color is red\n if (Optical2.color() == red) {\n // If the block is red the claw will close\n ClawMotor.spinFor(forward, 30.0, degrees, true);\n Drivetrain.driveFor(reverse, 150.0, mm, true);\n Drivetrain.turnFor(right, 90.0, degrees, true);\n // 1650mm is the distance to the end of the field\n // The block times 300mm is subtracted to get the distance from the current block to the end\n // E.g. if on the 3rd block, 1650 - 900 = 750 which is the remaining distance to the end\n Drivetrain.driveFor(forward, (1650.0 - block * 300.0), mm, true);\n // Open the claw and go back\n ClawMotor.spinToPosition(0.0, degrees, true);\n Drivetrain.driveFor(reverse, (1650.0 - block * 300.0), mm, true);\n // Changes the variable as it is now moving onto the next block\n block = block + 1.0;\n }\n else {\n // If the block is not red then the robot will drive back to the center\n Drivetrain.driveFor(reverse, 150.0, mm, true);\n Drivetrain.turnFor(right, 90.0, degrees, true);\n // Changes the variable as it is now moving onto the next block\n block = block + 1.0;\n }\n wait(20, msec);\n }\n return 0;\n}\n\n\nint main() {\n // Initializing Robot Configuration. DO NOT REMOVE!\n vexcodeInit();\n\n whenStarted1();\n}","target":"Physical"}