SensoryPerceptive.c

#pragma config(Sensor, S1,     touchFrontSensor, sensorTouch)
#pragma config(Sensor, S2,     touchUpSensor,  sensorTouch)
#pragma config(Sensor, S3,     liteSensor,     sensorLightActive)
#pragma config(Sensor, S4,     soundSensor,    sensorSoundDB)
#pragma config(Motor,  motorA,           ,             tmotorNXT, openLoop)
#pragma config(Motor,  motorB,          leftWheel,     tmotorNXT, PIDControl, encoder)
#pragma config(Motor,  motorC,          rightWheel,    tmotorNXT, PIDControl, encoder)
//*!!Code automatically generated by 'ROBOTC' configuration wizard               !!*//

/*
		Decision making rule to decide between 3 sensors.
			Uses the rand function to make the decision somewhat random.
			It will tend to respond to the light sensor in brighter lights
			It will tend to respond to the sound sensor when it is loud
			It will tend to respond to the sonar sensor when it is close to something
*/

task main()
{
	int lite;
	int sound;
	int touchUp;
	int touchFront;

	int speed=0;
	int range;
	int choice;

	while (true) {

		// get sensor values, and multiply by time since
		lite = SensorValue(liteSensor);
		sound = SensorValue(soundSensor);
		touchUp = SensorValue(touchUpSensor)*1000;
		touchFront =  SensorValue(touchFrontSensor)*1000;

		// sum the sensor values
		range = lite + sound + touchUp + touchFront;

		//create random value between zero and range
		choice = abs(rand()) % range;																						// choice is between 0 and range



		if 			(choice < touchFront) {												//WALL OPTION
							if (random(1) < 1) {
								motor[leftWheel] = -50;																			// turn right in reverse
								motor[rightWheel] = -10;
							}
							else {
								motor[leftWheel] = -10;																			// turn left in reverse
								motor[rightWheel] = -50;
							}
							wait1Msec(750);
							nxtDisplayTextLine(2, "WALL REACHED");												// print choice
		}

		else if (choice < lite + touchFront) {								//LIGHT OPTION
							speed = SensorValue[liteSensor];

							motor[leftWheel] = speed;
							motor[rightWheel] = speed;
							nxtDisplayTextLine(2, "LIGHT");																// print choice
		}

		else if (choice < lite + sound + touchFront) {
							if 		(SensorValue[soundSensor] > 65) {			// SCARED OPTION
											nxtDisplayTextLine(2, "SCARED BY SOUND");							// print choice
											PlaySound(soundDownwardTones);
											motor[leftWheel] = 100;
											motor[rightWheel] = 100;
											wait1Msec(250);
											motor[leftWheel] = 0;
											motor[rightWheel] = 0;
											wait1Msec(100);
											motor[leftWheel] = SensorValue[soundSensor];
											motor[rightWheel] = -SensorValue[soundSensor];
											wait1Msec(1000);
											motor[rightWheel] = speed;
											motor[leftWheel] = speed;																// resume last speed set

							} else if (SensorValue[soundSensor] > 40
											&& SensorValue[soundSensor] <= 65) {	// INTRUIGED OPTION
											nxtDisplayTextLine(2, "INTRUIGED BY SOUND");						// print choice
											motor[leftWheel] = -speed;
											motor[rightWheel] = -speed;															// step back briefly
											wait1Msec(500);
											motor[leftWheel] = speed;																// resume last speed
											motor[rightWheel] = speed;

							}	else {																			// MEH OPTION
											nxtDisplayTextLine(2, "MEH");														// print choice
											motor [leftWheel]= SensorValue[liteSensor];
											motor [rightWheel]= SensorValue[liteSensor];
							}

		}

		else {
							if 		(SensorValue[soundSensor] > 50) {				// STARTLED BY TOUCH OPTION
											nxtDisplayTextLine(2, "STARTLED BY TOUCH");							// print choice
											motor[leftWheel] = 100;
											motor[rightWheel] = 100;
											wait1Msec(250);
											motor[leftWheel] = 0;
											motor[rightWheel] = 0;
											wait1Msec(100);
											motor[rightWheel] = speed;															// resume last speed set
											motor[leftWheel] = speed;
							} else {																			// PURR AND DANCE OPTION
											nxtDisplayTextLine(2, "PURR AND DANCE");								// print choice
											motor[leftWheel] = 0;
											motor[rightWheel] = 0;
											for (int i=0; i<5; i++) {																// "dance" is a random set of motor speeds ranging from -50 to 50
														PlaySound(soundLowBuzz); 													// "purr" is a low buzz
														motor[leftWheel] = random(100)-50;
														motor[rightWheel] = random(100)-50;
														wait1Msec(1000);
											}
											motor[leftWheel] = speed;																//resume last speed set
											motor[rightWheel] = speed;
							}
		}

		nxtDisplayTextLine(1, "CHOICE:");
		nxtDisplayTextLine(3, "light=%i", lite);																// print values
		nxtDisplayTextLine(4, "sound=%i", sound);
		nxtDisplayTextLine(5, "touchUp=%i", touchUp);													// print values
		nxtDisplayTextLine(6, "touchFront=%i", touchFront);
		wait1Msec(1000);																													// wait one second before sampling again
		}

}