define#
variable 1: AverageTemperature
variable 2: LightValue
variable 3: TemperatureValue
SelectPrgm(slot_5)
BeginOfTask(Main)
Float(Motor_B)
{Propeller-motor must float}
SetRwd(Motor_B)
{Propeller must turn to the right direction}
SetFwd(Motor_A+Motor_C)
{Direction of movement}
SetPower(Motor_A+Motor_C,Con,1)
{Move slowly}
On(Motor_A+Motor_C)
{Go}
SetSensorType(Sensor_2,Light_Type)
SetSensorType(Sensor_3,Temp_Type)
SetSensorMode(Sensor_2,Percent_Mode,0)
{0..100; 0: light is left; 1: light is right}
SetSensorMode(Sensor_3,Raw_Mode,0)
{1023..0; 1023 is cold; 0 is hot}
StartTask(Task_1)
{react on diff light}
StartTask(Task_2)
{Tatitata}
{................determine
the average temperature.....................}
SetVar(AverageTemperature,Con,0)
Loop(Con,40)
{40 tests}
SetVar(TemperatureValue,SenVal,Sensor_3)
SumVar(AverageTemperature,Var,TemperatureValue)
{Sum of the temperature values}
Wait(Con,5)
{wait 5 cs}
EndLoop()
DivVar(AverageTemperature,Con,40)
{Average}
SubVar(AverageTemperature,Con,5)
{fluctuation}
{..................................................................................................}
StartTask(Task_3)
{react if hot source found}
EndOfTask()
{******************************************************************}
BeginOfTask(Task_1)
{react on light}
Loop(Con,Forever)
SetVar(LightValue,SenVal,Sensor_2)
If(Var,LightValue,LT,Con,48)
{Light is left}
SetFwd(Motor_A)
{go to the left}
On(Motor_A)
Off(Motor_C)
else()
If(Var,LightValue,GT,Con,52) {Light is right}
SetFwd(Motor_C) {go to the right}
On(Motor_C)
Off(Motor_A)
else() {Light is in the midth}
SetFwd(Motor_A+Motor_C)
On(Motor_A+Motor_C)
endif()
endif()
Wait(Con,1)
EndLoop()
EndOfTask()
{******************************************************************}
BeginOfTask(Task_2) {Tatitata}
Loop(Con,Forever)
PlayTone(147,100) {D 1/4}
PlayTone(196,100) {G
1/4}
PlayTone(147,100) {D
1/4}
PlayTone(196,100)
{G 1/4}
Wait(Con,800) {Pause
1/2 + 1/4 + Melodie}
EndLoop()
EndOfTask()
{******************************************************************}
BeginOfTask(Task_3) {react
on temperature}
Loop(Con,Forever)
SetVar(TemperatureValue,SenVal,Sensor_3)
If(Var,TemperatureValue,LT,Var,AverageTemperature)
StopTask(Task_1)
{stop}
StopTask(Task_2)
{no Tatitata}
Off(Motor_A+Motor_C)
PlaySystemSound(Sweep_fast_sound)
{jhuppie}
On(Motor_B)
{Propeller}
Wait(Con,500)
{5 sec}
Float(Motor_B)
{stop propeller}
Wait(Con,3)
SetRwd(Motor_A+Motor_C)
{walk back}
On(Motor_A+Motor_C)
Wait(Con,300)
{3 sec}
SetFwd(Motor_A+Motor_C)
{direction}
StartTask(Task_1)
{search light again}
StartTask(Task_2)
{Tatitata}
Endif()
Wait(Con,3)
EndLoop()
EndOfTask()
{::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::}
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