Re: [FTC]: FTC Multiplexer
Yes, we are using the sensor multiplexor, using the 3rd party driver suite
Here is the appropriate part of our autonomous program. Hope it helps.
Code:
#pragma config(Hubs, S2, HTMotor, HTServo, HTMotor, none)
#pragma config(Sensor, S1, HTSMUX, sensorI2CCustom)
#pragma config(Sensor, S3, IRsensor, sensorI2CCustom)
#pragma config(Sensor, S4, GyroSensor, sensorI2CHiTechnicGyro)
#pragma config(Motor, motorA, BlockDrop, tmotorNXT, PIDControl, encoder)
#pragma config(Motor, mtr_S2_C1_1, winch, tmotorTetrix, openLoop)
#pragma config(Motor, mtr_S2_C1_2, right, tmotorTetrix, openLoop, encoder)
#pragma config(Motor, mtr_S2_C3_1, arm, tmotorTetrix, openLoop)
#pragma config(Motor, mtr_S2_C3_2, left, tmotorTetrix, openLoop, reversed)
#pragma config(Servo, srvo_S2_C2_1, servo1, tServoNone)
#pragma config(Servo, srvo_S2_C2_2, servo2, tServoNone)
#pragma config(Servo, srvo_S2_C2_3, servo3, tServoNone)
#pragma config(Servo, srvo_S2_C2_4, servo4, tServoNone)
#pragma config(Servo, srvo_S2_C2_5, servo5, tServoNone)
#pragma config(Servo, srvo_S2_C2_6, grabber, tServoStandard)
//*!!Code automatically generated by 'ROBOTC' configuration wizard !!*//
#include "drivers/hitechnic-gyro.h"
#include "drivers/hitechnic-irseeker-v2.h"
#include "drivers/hitechnic-sensormux.h"
#include "drivers/lego-light.h"
#include "JoystickDriver.c"
const tMUXSensor LightSensorLeft = msensor_S1_1;
const tMUXSensor LightSensorRight = msensor_S1_4;
/////////////////////////////////////////////////////////////////////////////////////////////////////
//
// Global variables
//
/////////////////////////////////////////////////////////////////////////////////////////////////////
int initialLightLeft, initialLightRight;
/////////////////////////////////////////////////////////////////////////////////////////////////////
//
// Checks whether light sensor sees white line
//
/////////////////////////////////////////////////////////////////////////////////////////////////////
bool LeftOnBlack(){ //returns true if left light sensor is on black
return (LSvalNorm(LightSensorLeft) <= 10 + initialLightLeft);
}
bool RightOnBlack(){ //returns true if right light sensor is on black
return (LSvalNorm(LightSensorRight) <= 10 + initialLightRight);
}
/////////////////////////////////////////////////////////////////////////////////////////////////////
//
// initializeRobot
/////////////////////////////////////////////////////////////////////////////////////////////////////
void initializeRobot()
{
// Place code here to sinitialize servos to starting positions.
// Sensors are automatically configured and setup by ROBOTC. They may need a brief time to stabilize.
LSsetActive(LightSensorLeft);//turn on the light
LSsetActive(LightSensorRight);//turn on the light
initialLightLeft=LSvalNorm(LightSensorLeft);
initialLightRight=LSvalNorm(LightSensorRight);
return;
}
/////////////////////////////////////////////////////////////////////////////////////////////////////
//
// Main Task
//
/////////////////////////////////////////////////////////////////////////////////////////////////////
task main()
{
initializeRobot();
StartTask(printStuff);
waitForStart(); // Wait for the beginning of autonomous phase.
motor[right]=30;motor[left]=30;
//wait until one of the sensors sees white
while (LeftOnBlack() && RightOnBlack() ) {
wait1Msec(1);
}
motor[right]=0;motor[left]=0;
PlaySound(soundBeepBeep);
wait10Msec(50);
}
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