{"mode":"Blocks","workspace":"myVariablerowListcolumnListlastMoveRowLastMoveColumnmoveDistancemoveListmessage1enterMovesdriveRobotmoveDistance305Brain11BrainFALSEFloorbot v1.02enterMovesenterMovesBrainBrain11BrainFALSEEnter moves thenBrain21BrainFALSEpress BUMPERcolumnList1rowList1BumperrowList10columnList10fowardLEDfowardLEDred31moveList1rowList1columnList10.2fowardLEDnonebackwardLEDbackwardLEDred31moveList1rowList1columnList20.2backwardLEDnoneleftLEDleftLEDred31moveList1rowList1columnList30.2leftLEDnonerightLEDrightLEDred31moveList1rowList1columnList40.2rightLEDnonelastMoveRow0rowListLastMoveColumn0columnListtollBooth5fowardLEDgreen0.1fowardLEDnonerightLEDgreen0.1rightLEDnonebackwardLEDgreen0.1backwardLEDnoneleftLEDgreen0.1leftLEDnonedriveRobotrowList1rowList10columnList1rowList1driveRobot00rowList1columnList1BrainBrain11BrainFALSERunning....columnList50LastMoveColumnrowList50lastMoveRowmoveList1rowList1columnList1fowardLEDgreenfwdmmFALSE200moveDistancefowardLEDnonemoveList1rowList1columnList2backwardLEDgreenrevmmFALSE200moveDistancebackwardLEDnonemoveList1rowList1columnList3leftLEDgreenleftFALSE90leftLEDnonemoveList1rowList1columnList4rightLEDgreenrightFALSE90rightLEDnonetadarightLEDgreenleftLEDredBrainBrain11BrainFALSEDoneBrain21BrainFALSEGREEN: Run againBrain31BrainFALSERED: ReprogramrightLEDtollBoothdriveRobotleftLEDtollBooth1enterMovesrightLEDnoneleftLEDnone","rconfig":[{"port":[4],"name":"fowardLED","customName":true,"deviceType":"TouchLED","deviceClass":"touchled","setting":{},"triportSourcePort":22},{"port":[12],"name":"rightLED","customName":true,"deviceType":"TouchLED","deviceClass":"touchled","setting":{},"triportSourcePort":22},{"port":[2],"name":"backwardLED","customName":true,"deviceType":"TouchLED","deviceClass":"touchled","setting":{},"triportSourcePort":22},{"port":[7],"name":"leftLED","customName":true,"deviceType":"TouchLED","deviceClass":"touchled","setting":{},"triportSourcePort":22},{"port":[6,1,0],"name":"Drivetrain","customName":false,"deviceType":"Drivetrain","deviceClass":"smartdrive","setting":{"type":"2-motor","wheelSize":"160mm","gearRatio":"1:1","direction":"fwd","gyroType":"integrated","width":"173","unit":"mm","wheelbase":"76","wheelbaseUnit":"mm","xOffset":"0","yOffset":"0","thetaOffset":"0"},"triportSourcePort":22},{"port":[5],"name":"Bumper","customName":true,"deviceType":"Bumper","deviceClass":"bumper","setting":{},"triportSourcePort":22}],"slot":0,"platform":"IQ","sdkVersion":"20220726.10.00.00","appVersion":"2.4.5","minVersion":"2.4.0","fileFormat":"1.2.0","icon":"","targetBrainGen":"Second","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();\ntouchled fowardLED = touchled(PORT4);\ntouchled rightLED = touchled(PORT12);\ntouchled backwardLED = touchled(PORT2);\ntouchled leftLED = touchled(PORT7);\nmotor LeftDriveSmart = motor(PORT6, 1, false);\nmotor RightDriveSmart = motor(PORT1, 1, true);\n\nsmartdrive Drivetrain = smartdrive(LeftDriveSmart, RightDriveSmart, BrainInertial, 160);\n\nbumper Bumper = bumper(PORT5);\n\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\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\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\n// User defined function\nvoid myblockfunction_rowColumnControl();\n\nint Brain_precision = 0, Console_precision = 0;\n\nfloat myVariable, rowList, columnList, lastMoveRow, LastMoveColumn, moveDistance;\n\nfloat moveList[10][10];\n\nevent message1 = event();\nevent enterMoves = event();\nevent driveRobot = event();\n\n// User defined function\nvoid myblockfunction_rowColumnControl() {\n rowList = rowList + 1.0;\n if (rowList > 10.0) {\n columnList = columnList + 1.0;\n rowList = 1.0;\n }\n}\n\n// \"when started\" hat block\nint whenStarted1() {\n moveDistance = 305.0;\n Brain.Screen.setCursor(1, 1);\n Brain.Screen.print(\"Floorbot v1.0\");\n wait(2.0, seconds);\n enterMoves.broadcast();\n return 0;\n}\n\n// \"when I receive enterMoves\" hat block\nvoid onevent_enterMoves_0() {\n Brain.Screen.clearScreen();\n Brain.Screen.setCursor(1, 1);\n Brain.Screen.print(\"Enter moves then\");\n Brain.Screen.setCursor(2, 1);\n Brain.Screen.print(\"press BUMPER\");\n columnList = 1.0;\n rowList = 1.0;\n while (!(Bumper.pressing() || rowList == 10.0 && columnList == 10.0)) {\n if (fowardLED.pressing()) {\n fowardLED.setColor(red);\n Brain.playNote(3, 3, 250);\n moveList[static_cast(rowList) - 1][static_cast(columnList) - 1] = 1;\n myblockfunction_rowColumnControl();\n wait(0.2, seconds);\n fowardLED.setColor(colorType::none);\n }\n if (backwardLED.pressing()) {\n backwardLED.setColor(red);\n Brain.playNote(3, 3, 250);\n moveList[static_cast(rowList) - 1][static_cast(columnList) - 1] = 2;\n myblockfunction_rowColumnControl();\n wait(0.2, seconds);\n backwardLED.setColor(colorType::none);\n }\n if (leftLED.pressing()) {\n leftLED.setColor(red);\n Brain.playNote(3, 3, 250);\n moveList[static_cast(rowList) - 1][static_cast(columnList) - 1] = 3;\n myblockfunction_rowColumnControl();\n wait(0.2, seconds);\n leftLED.setColor(colorType::none);\n }\n if (rightLED.pressing()) {\n rightLED.setColor(red);\n Brain.playNote(3, 3, 250);\n moveList[static_cast(rowList) - 1][static_cast(columnList) - 1] = 4;\n myblockfunction_rowColumnControl();\n wait(0.2, seconds);\n rightLED.setColor(colorType::none);\n }\n wait(20, msec);\n }\n lastMoveRow = rowList;\n LastMoveColumn = columnList;\n Brain.playSound(tollBooth);\n repeat(5) {\n fowardLED.setColor(green);\n wait(0.1, seconds);\n fowardLED.setColor(colorType::none);\n rightLED.setColor(green);\n wait(0.1, seconds);\n rightLED.setColor(colorType::none);\n backwardLED.setColor(green);\n wait(0.1, seconds);\n backwardLED.setColor(colorType::none);\n leftLED.setColor(green);\n wait(0.1, seconds);\n leftLED.setColor(colorType::none);\n wait(20, msec);\n }\n driveRobot.broadcast();\n}\n\n// \"when I receive driveRobot\" hat block\nvoid onevent_driveRobot_0() {\n Drivetrain.setHeading(0.0, degrees);\n Drivetrain.setRotation(0.0, degrees);\n rowList = 1.0;\n columnList = 1.0;\n Brain.Screen.clearScreen();\n Brain.Screen.setCursor(1, 1);\n Brain.Screen.print(\"Running....\");\n while (!(columnList == LastMoveColumn && rowList == lastMoveRow)) {\n if (moveList[static_cast(rowList) - 1][static_cast(columnList) - 1] == 1.0) {\n fowardLED.setColor(green);\n Drivetrain.driveFor(forward, moveDistance, mm);\n fowardLED.setColor(colorType::none);\n }\n if (moveList[static_cast(rowList) - 1][static_cast(columnList) - 1] == 2.0) {\n backwardLED.setColor(green);\n Drivetrain.driveFor(reverse, moveDistance, mm);\n backwardLED.setColor(colorType::none);\n }\n if (moveList[static_cast(rowList) - 1][static_cast(columnList) - 1] == 3.0) {\n leftLED.setColor(green);\n Drivetrain.turnFor(left, 90.0, degrees);\n leftLED.setColor(colorType::none);\n }\n if (moveList[static_cast(rowList) - 1][static_cast(columnList) - 1] == 4.0) {\n rightLED.setColor(green);\n Drivetrain.turnFor(right, 90.0, degrees);\n rightLED.setColor(colorType::none);\n }\n myblockfunction_rowColumnControl();\n wait(20, msec);\n }\n Brain.playSound(tada);\n rightLED.setColor(green);\n leftLED.setColor(red);\n Brain.Screen.clearScreen();\n Brain.Screen.setCursor(1, 1);\n Brain.Screen.print(\"Done\");\n Brain.Screen.setCursor(2, 1);\n Brain.Screen.print(\"GREEN: Run again\");\n Brain.Screen.setCursor(3, 1);\n Brain.Screen.print(\"RED: Reprogram\");\n while (true) {\n if (rightLED.pressing()) {\n Brain.playSound(tollBooth);\n driveRobot.broadcast();\n break;\n }\n if (leftLED.pressing()) {\n Brain.playSound(tollBooth);\n wait(1.0, seconds);\n enterMoves.broadcast();\n break;\n }\n wait(20, msec);\n }\n rightLED.setColor(colorType::none);\n leftLED.setColor(colorType::none);\n}\n\n\nint main() {\n // Calibrate the Drivetrain Gyro\n calibrateDrivetrain();\n\n // register event handlers\n enterMoves(onevent_enterMoves_0);\n driveRobot(onevent_driveRobot_0);\n\n wait(15, msec);\n whenStarted1();\n}","target":"Physical"}