Bug in IR sensor code
 

I got a problem with my IR sensors code. Everything works ok until the robot reaches the end of the white line. I thought i'd be cleaver and wrote an if statement that says if rc_sw 1,2 & 3 =0 then go straight, however the robot goes into a left hand loop.

Any help or suggestions would be greatly appreciated!!

Here is the code I wrote:

FullAutoMode:

if rc_sw2=1 then straight:
if rc_sw1=1 & rc_sw3=0 then turnleft:
if rc_sw3=1 & rc_sw1=0 then turnright:
if rc_sw1 & rc_sw2 & rc_sw3=0 then straight:
goto endir:
straight:
debug "staight",cr
p1_y = 234
p3_y = 254
goto endir:

turnleft:
debug "left",cr
p1_y = 84
p3_y = 127
goto endir:

turnright:
debug "right",cr
p1_y = 127
p3_y = 84
goto endir:





KillAuto:

endir:

I believe the problem is centered around improper use of the &. Try replacing them with the keyword AND as well as splitting up that last if into multiple equlaties joined with the AND keyword.

Thanks for the help. It does not make a whole lot of sence since "&" and "and" are the same thing, however it works now!


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Very funny Scottie....NOW BEAM DOWN MY CLOTHES!

They actually aren't AND is the logical version (like C's && if that helps) whereas & is the bitwise version (like C's &). For more detail, see this post.

Taking your previous code, assume sw1=1, sw2=0, sw3=1. Evaluate left to right:

sw1 & sw2 & sw3 => 1 & 0 & 1, which is 0. Then apply the comparison evaluator, 0=0, which evaluates to true. Thus if any of the switches are 0, this will evaluate to true.

Oh! I understand now! I just had an id-10-t error!

Once again, thanks for your input.