lcdGoto(0,0); lcdString("Found Bin"); delay_ms(500); getsonarR = SonarR(); getsonarL = SonarL(); MF(); delay_ms(300); Stop(); delay_ms(200); if((Binbump()>3000)) { Stop(); delay_ms(300); Armdrop(); delay_ms(300); Gripperopen(); delay_ms(300); Armup(); delay_ms(300); Gripperclose(); delay_ms(300); Rev(); delay_ms(200); HR(); delay_ms(500); gr = 1; getgreen = 10; } else if ((getsonarR>380)&&(getsonarL<378)) { HL(); delay_ms(300); Stop(); } else if ((getsonarR<380)&&(getsonarL>378)) { MR(); delay_ms(100); Stop(); } } } } } }
lcdGoto(0,0); lcdString("Found Bin"); delay_ms(500); getsonarR = SonarR(); getsonarL = SonarL(); MF(); delay_ms(300); Stop(); delay_ms(200); if((Binbump()>3000)) { Stop(); delay_ms(300); Armdrop(); delay_ms(300); Gripperopen(); delay_ms(300); Armup(); delay_ms(300); Gripperclose(); delay_ms(300); Rev(); delay_ms(200); HR(); delay_ms(500); gr = 1; getgreen = 10; } else if ((getsonarR>380)&&(getsonarL<378)) { HL(); delay_ms(300); Stop(); } else if ((getsonarR<380)&&(getsonarL>378)) { MR(); delay_ms(100); Stop(); } } } } } }
IMDL%20Final%20report.docx