//prog1.nqc

//This program turns motors A and C on forward for 5 seconds

 

task main ()

{

 

//Tells motors A and C to go forward full speed, 5 seconds

 

OnFwd(OUT_A);

OnFwd(OUT_C);

Wait(500);                          //Moves 5 seconds

Off(OUT_A);

Off(OUT_C);

 

Wait(100);

 

//Tells motors A and C to go backward full speed, 5 seconds

OnRev(OUT_A + OUT_C);  // We can start both motors at once

Wait(500);

Off(OUT_A + OUT_C);

}

//prog2.nqc

 //Description:  This program will introduce the bump sensor.

 

task main ()

{

  SetSensor(SENSOR_1,SENSOR_TOUCH);    // SENSOR_1 is specified as a bump sensor

 

  while(true) {                                     // Repeatedly check the bump sensor

 

     until (SENSOR_1 == 1);             // wait until bump switch is pressed

         OnFwd(OUT_A + OUT_C);       // then turn on the motors

     until (SENSOR_1 == 0);     // wait until bump switch is not pressed   

         Off(OUT_A + OUT_C);             // then turn off the motors

  }

}

//prog3.nqc

 //Description:  This program will introduce the light sensor.

#define threshold 40       // Above threshold is light, below threshold is dark

 

task main ()

{

  SetSensor(SENSOR_2,SENSOR_LIGHT);    // SENSOR_2 is specified as a light sensor

 

  OnFwd(OUT_A + OUT_C);            // Turn the motors on and

  until (SENSOR_2 <= threshold);           // wait until light sensor sees dark

  Off(OUT_A + OUT_C);                  // then turn off the motors

}

 

//Prog4.nqc

#define threshold 38

 

task main ()

{

SetSensor(SENSOR_1,SENSOR_LIGHT);

SetSensor(SENSOR_3,SENSOR_LIGHT);

start left_sensor_watcher;

start right_sensor_watcher;

}

 

task left_sensor_watcher ()    // This sensor watcher repeatedly

{                                          // watches the left sensor.

  while(true)           

    {                      

      OnFwd(OUT_A);         // Turn on motor A, wait until sensor sees dark

      until(SENSOR_1 < threshold);

      Off(OUT_A);              // then turn off motor A.  Wait until sensor

      until(SENSOR_1 >= threshold);             // sees light then repeat.

    }

}

   

task right_sensor_watcher ()  // Similar to the left sensor watcher.

{

  while(true)

    {

      OnFwd(OUT_C);

      until(SENSOR_3 < threshold);

      Off(OUT_C);

      until(SENSOR_3 >= threshold);

    }

}