Drunken tribot v2

/*                       learning NXC with Lola

                    THE MARCH OF THE DRUNKEN TRIBOT v2                   

        Simple escape-the-room by bumper programme with Random Moves.                   */

#define TIME_MOVE 1000                // time used to rethink the situation, backing off...

task main()                           // start of real code
{ 
  repeat(4)                           // Say, we bump 4 times & then we stop
  {
    SetSensor(IN_1,SENSOR_TOUCH);     // We'll need  the Touch Sensor in Port 1, OK?
    do                                // do the following until...
    {
      OnFwd(OUT_AC, 50);              // Forward 50%
      Wait(Random(1000)+500);         // For a random amount of time + 1000 (gives a minimal value)
      OnRev(OUT_A, Random(90));       // turn away by reversing engine A random between 0 & 90
      OnRev(OUT_C, Random(90));       // Turn away by reversing motor C at a differennt value
      Wait(Random(400+200));          // On a random timeframe too.
    }
    until (SENSOR_1 == 1);            // ...BUMP! CRASH!
    Off(OUT_AC);                      // We need to switch off the engines to get a neater result.
    Wait(100);                        // Little subtle break, motors stopped;
    OnRev(OUT_AC, 75);                // Back off, you thingy...
    Wait(TIME_MOVE);                  // for the amount of time and speed as defined above
    if (Random() >= 0)                // IF statement, what happens if... the value is BELOW Zero:
    {
      OnRev(OUT_C, Random(50)+50);    // Motor C backs off, at least 50% + random of 50 remaining
      OnFwd(OUT_A, Random(80)+20);    // Motor A backs off, at least 20% + random of 80 remaining
    }
    else                              // ELSE statement: returned value is ABOVE zero.
    {
      OnRev(OUT_A, Random(50)+50);    // Motor A backs off, at least 50% + random of 50 remaining
      OnFwd(OUT_C, Random(80)+20);    // Motor C backs off, at least 20% + random of 80 remaining
    }
    Wait(Random(600)+400);            // Even the duration of the re-direction is random.
  }
  Off(OUT_AC);                        // after 4 "rounds", software reach this point: Off A & C
}
//End of (drunken) v2 code

Lola 15:37, 1 July 2008 (UTC)