car_remote.nxc

#define SLAVE_CONN 1
#define SPEEDBOX 4
#define TURNBOX 5

bool BTConnectToNXT(string NXTSLAVE, int BTCONN) {
 if (BluetoothStatus(BTCONN)==NO_ERR) {  // if connected
  return TRUE;
 }
 else {
   CommBTConnectionType args;
   args.Name = NXTSLAVE;                 // name of the slave
   args.ConnectionSlot = BTCONN;         // channel to the slave
   args.Action = TRUE;
   SysCommBTConnection(args);               // then connect
   for (int i = 0; i < 10; i++) {
    if (BluetoothStatus(BTCONN)==NO_ERR) {  // if connected
     i = 10;
     TextOut(0, LCD_LINE2, "Success !" ); 
     return TRUE;
     }
    else {
     TextOut(0, LCD_LINE2, "trying..." ); 
     NumOut(60, LCD_LINE2, i );
     Wait(999);
     }
   }
  }
  return FALSE;
}

task RotationSensorCheck()
{
  ResetRotationCount(OUT_AB);
  while (true) {
    int speed = MotorRotationCount(OUT_A);
    if ( (speed<10) && (speed>-10) ) { speed=0; }
    TextOut(0,LCD_LINE4,"Speed:     ");
    NumOut(40,LCD_LINE4,speed);
    while (!RemoteConnectionIdle(SLAVE_CONN)) {}
    SendRemoteNumber(SLAVE_CONN, SPEEDBOX, speed);
    Wait(9);
    int turn  = MotorRotationCount(OUT_B);
    if ( (turn<10) && (turn>-10) ) { turn=0; }
    TextOut(0,LCD_LINE5,"Turn:      ");
    NumOut(40,LCD_LINE5,turn);
    while (!RemoteConnectionIdle(SLAVE_CONN)) {}
    SendRemoteNumber(SLAVE_CONN, TURNBOX, turn);
    Wait(9);
  }
}

task main() {
  if (BTConnectToNXT("Julie", SLAVE_CONN)) {
   Precedes(RotationSensorCheck);
  }
}