chimes_sub.nxc

// Constants for communication with main NXT
const byte REMOTE_STAY_ALIVE = 0x00;
const byte REMOTE_CALIBRATE  = 0x01;
const byte REMOTE_HIT_LEFT   = 0x02;
const byte REMOTE_HIT_RIGHT  = 0x03;
const byte REMOTE_HIT_BOTH   = 0x04;

inline void WaitForBluetoothConnection() {
  until( BluetoothStatus(CONN_BT0) == NO_ERR ) {
    ClearLine( LCD_LINE1 );
    TextOut(0, LCD_LINE1, "... no connection ...");
    Wait(100);
  }
  
  ClearLine( LCD_LINE1 );
  TextOut(0, LCD_LINE1, "Bluetooth connected!");
}

byte NextCommand() {
  long command;
  until( ReceiveRemoteNumber(MAILBOX1, true, command) == NO_ERR );
  return command;
}

inline void CalibrateMalletHitting() {
  // More finegrained regulation than default (100ms)
  SetMotorRegulationTime(MS_10);

  // Move mallet hitting motors softly in reverse until they block
  OnFwdReg(OUT_AB, 10, OUT_REGMODE_IDLE);
  Wait(2000);
  
  // Move forward to real zero position
  RotateMotor(OUT_AB, 30, -50);
  Wait(2000);

  // Set zero position and motor speed
  PosRegEnable(OUT_AB);
  PosRegSetMax(OUT_AB, 75, 0);
}

inline void HitMalletLeft() {
  PosRegAddAngle(OUT_B, -90);
}

inline void HitMalletRight() {
  PosRegAddAngle(OUT_A, -90);
}

task main() {
  WaitForBluetoothConnection();
  while(true) {
    switch(NextCommand())  {
      case REMOTE_CALIBRATE:
        CalibrateMalletHitting();
        break;
      case REMOTE_HIT_LEFT:
        HitMalletLeft();
        break;
      case REMOTE_HIT_RIGHT:
        HitMalletRight();
        break;
      case REMOTE_HIT_BOTH:
        HitMalletLeft();
        HitMalletRight();
        break;
      default:
        break;
    }
  }
}