自学教程：C++ EndTimeSlice函数代码示例

task flywheelStabilization() { //modulates motor powers to maintain constant flywheel velocity	clearTimer(T1);	float prevError;	float error;	float integral;	int numbbup = 0; //debug	float totalError = 0;  int numloops = 0;	while (true)	{		prevError = targetVelocity - flywheelVelocity;		integral = 0;		while (abs(targetVelocity - flywheelVelocity) < bangBangErrorMargin * targetVelocity && targetVelocity > 0/*true*/) { EndTimeSlice();	}		//bang bang control		bangBangCount += 1;		numbbup += (targetVelocity > flywheelVelocity ? 1 : 0);		bbpercentup = 100 * numbbup / bangBangCount;		bangBangPerSec = (float)((float)bangBangCount * 1000) / (float)(time1(T1) + .1);		while (abs(targetVelocity - flywheelVelocity) > bangBangErrorMargin * flywheelVelocity  * 0.75 && targetVelocity > 0) {			setLauncherPower((targetVelocity > flywheelVelocity) ? (127) : ( 0));			EndTimeSlice();		}		setLauncherPower(defaultPower);		while (targetVelocity == 0) { EndTimeSlice(); } //pauses while	}}

task main () {  // Create two new timer index numbers  int timer1 = TMRnewTimer();  int timer2 = TMRnewTimer();  // Configure timer1 for 2000ms  TMRsetup(timer1, 100);  // Configure timer2 for 5000ms  TMRsetup(timer2, 5000);  // Reset and start both timers  TMRreset(timer1);  TMRreset(timer2);  while (true) {    // If timer1 expires, make a small noise and reset it.    if (TMRisExpired(timer1)) {      PlaySound(soundBlip);      while(bSoundActive) EndTimeSlice();      TMRreset(timer1);    }    // If timer2 expires, make a small noise and reset it.    if (TMRisExpired(timer2)) {      PlaySound(soundShortBlip);      while(bSoundActive) EndTimeSlice();      TMRreset(timer2);    }    EndTimeSlice();  }}

task autonomous() {	//start flywheel	initializeTasks();	setFlywheelRange(2);	wait1Msec(1000);	startTask(fire);	//wait until first set of preloads are fired	waitUntilNotFiring(15000);	while (firing) { EndTimeSlice(); }	stopTask(fire);	turn(120); //turn toward stack	motor[feedMe] = 127;	driveStraight(150, 1, 1, 60); //move to second stack	turn(-30);	driveStraight(3200, 1, 1, 60); //drive across field	autonProgress = 1;	turn(-83); // turn toward net	autonProgress = 2;	//fire remaining balls	startTask(fire);	while (true) { EndTimeSlice(); }}

void CEvBlk::Stop(double time)  {  if (pTS)    EndTimeSlice();  StartTimeSlice(time);  pData[pTS->iLen++] = TS_STOP;  EndTimeSlice();  }

task main() {  float temp;  byte state = 0;  nxtDisplayTextLine(0, "Dexter Industries");  nxtDisplayCenteredBigTextLine(1, "T Probe");  nxtDisplayCenteredTextLine(3, "Test 1");  nxtDisplayCenteredTextLine(5, "Connect sensor");  nxtDisplayCenteredTextLine(6, "to S1");  wait1Msec(2000);  eraseDisplay();  nxtDisplayTextLine(0, "Dexter Industries");  nxtDisplayCenteredTextLine(7, "< switch scale >");  //loop to read temp  while (true) {    switch(nNxtButtonPressed) {      // If the right button is pressed, cycle through the scales      case kRightButton:        if (++state > 2)          state = 0;        while (nNxtButtonPressed != kNoButton) EndTimeSlice();        break;        // If the left button is pressed, cycle through the scales in reverse      case kLeftButton:        if (--state < 0)          state = 2;        // debounce the button        while (nNxtButtonPressed != kNoButton) EndTimeSlice();        break;    }    nxtDisplayCenteredBigTextLine(1, "Temp:");    switch(state) {      // if state: 0, display temp in degrees celcius      case 0: DTMPreadTemp(DTMP, temp);              nxtDisplayCenteredBigTextLine(3, "%4.2f", temp);              nxtDisplayCenteredBigTextLine(5, "Celcius");              break;      // if state: 1, display temp in Fahrenheit      case 1: DTMPreadTempF(DTMP, temp);              nxtDisplayCenteredBigTextLine(3, "%4.2f", temp);              nxtDisplayCenteredBigTextLine(5, "Fahrenh.");              break;      // if state: 2, display temp in Kelvin      case 2: DTMPreadTempK(DTMP, temp);              nxtDisplayCenteredBigTextLine(3, "%4.2f", temp);              nxtDisplayCenteredBigTextLine(5, "Kelvin");              break;    }    wait1Msec(10);  }}

task main(){	int tempAngle;	eraseDisplay();	wait1Msec(11);	nxtDisplayStringAt(0, 63, "Minigolf 2013");	nxtDisplayStringAt(0, 48, "GyroSensor:");	nxtDisplayStringAt(0, 40, "SonarSensor:");	//StartTask(GyroDeviceDriver);	StartTask(DistDeviceDriver);	StartTask(getHeading);	while(!_GyrodriverInitFinish) // Gyro initialisierung	{		EndTimeSlice();	}	tempAngle = (int)_fGyroAngle;	wait1Msec(4000);	while(tempAngle != (int)_fGyroAngle)	{			nxtDisplayStringAt(0, 48, "GYRO FAIL, %02d",(int)_fGyroAngle);			nxtDisplayStringAt(0, 40, "Drift after INIT");	}	searchObjekt();	wait1Msec(500);	calc_koordinaten_Ball(_ObjectAngle,_ObjectDistance+45);	wait1Msec(500);	calc_degree_hit();	wait1Msec(500);	calc_koordinaten_Drive();	wait1Msec(500);	turn2Degree(900);	wait1Msec(500);	driveDistance(_distance_X2Drive);	wait1Msec(500);	turn2Degree(0);	wait1Msec(500);	driveDistance(_distance_Y2Drive);	wait1Msec(500);	turn2Degree(_degree_Hit);	wait1Msec(500);	driveDistance(50);	wait1Msec(500);	schlagen(40,60);	while(1)	{		EndTimeSlice();	}	StopAllTasks();}

task main () {    int magFieldValue = 0;    int calibrationValue = 0;    nxtDisplayCenteredTextLine(0, "HiTechnic");    nxtDisplayCenteredBigTextLine(1, "MAGNETIC");    nxtDisplayCenteredTextLine(3, "Field Sensor");    nxtDisplayCenteredTextLine(4, "Test 1");    nxtDisplayCenteredTextLine(5, "Connect Sensor");    nxtDisplayCenteredTextLine(6, "to S1");    wait1Msec(2000);    nxtDisplayCenteredTextLine(5, "Press enter");    nxtDisplayCenteredTextLine(6, "to set bias");    wait1Msec(2000);    eraseDisplay();    while(true) {        eraseDisplay();        nxtDisplayTextLine(1, "Resetting");        nxtDisplayTextLine(2, "bias");        wait1Msec(500);        // Start the calibration and display the offset        calibrationValue = HTMAGstartCal(HTMAG);        nxtDisplayTextLine(2, "Bias: %4d", calibrationValue);        PlaySound(soundBlip);        while(bSoundActive) EndTimeSlice();        while(nNxtButtonPressed != kNoButton) EndTimeSlice();        while(nNxtButtonPressed != kEnterButton) {            eraseDisplay();            // Read the current calibration offset            calibrationValue = HTMAGreadCal(HTMAG);            // Read the current magnetic field strength            magFieldValue = HTMAGreadVal(HTMAG);            nxtDisplayTextLine(1, "Reading");            // Display the current calibration value            nxtDisplayTextLine(2, "Bias: %4d", calibrationValue);            nxtDisplayClearTextLine(4);            // Display the current magnetic field strength            nxtDisplayTextLine(4, "Mag:   %4d", magFieldValue);            nxtDisplayTextLine(6, "Press enter");            nxtDisplayTextLine(7, "to recalibrate");            wait1Msec(100);        }    }}

task main () {  int raw = 0;  int nrm = 0;  // Get control over the buttons  nNxtButtonTask  = -2;  eraseDisplay();  nxtDisplayTextLine(0, "Dexter Industries");  nxtDisplayCenteredBigTextLine(1, "dFlex");  nxtDisplayCenteredTextLine(3, "Test 2");  nxtDisplayCenteredTextLine(5, "Connect sensor");  nxtDisplayCenteredTextLine(6, "to S1");  wait1Msec(2000);  eraseDisplay();  nxtDisplayTextLine(0, "dFlex Calibration");  nxtDisplayTextLine(2, "Left:  set min");  nxtDisplayTextLine(3, "Right: set max");  nxtDisplayTextLine(7, "Grey:  exit");  while (true) {    switch(nNxtButtonPressed) {      // if the left button is pressed calibrate the black value for the sensor      case kLeftButton:                        DFLEXcalLow(DFLEX);                        PlaySound(soundBeepBeep);                        while(bSoundActive) EndTimeSlice();                        break;      // if the left button is pressed calibrate the white value for the sensor      case kRightButton:                        DFLEXcalHigh(DFLEX);                        PlaySound(soundBeepBeep);                        while(bSoundActive) EndTimeSlice();                        break;    }    nxtDisplayClearTextLine(5);    nxtDisplayClearTextLine(6);    // Read the raw value of the sensor    raw = DFLEXvalRaw(DFLEX);    // Read the normalised value of the sensor    nrm = DFLEXvalNorm(DFLEX);    // Display the raw and normalised values    nxtDisplayTextLine(5, "R: %4d N: %4d", raw, nrm);    // Display the values for black and white    nxtDisplayTextLine(6, "B: %4d W: %4d", dflexlow, dflexhigh);    wait1Msec(50);  }}

//begin user input regiontask lift() {	while (vexRT[deployBtn] == 0) { EndTimeSlice(); }	setLauncherPower(-40, -127, 0);	wait1Msec(75);	setLauncherPower(0);	wait1Msec(750);	while (true) {		setLauncherPower(-127*vexRT[liftBtn] - 40*vexRT[deployBtn], -127, 0);		EndTimeSlice();	}}

/*void waitForMovementToFinish(motorGroup *group, int timeout=DEF_WAIT_TIMEOUT) {	waitForMovementToFinish(timeout, 1, group);}*/void waitForMovementToFinish(motorGroup *group, int timeout=DEF_WAIT_TIMEOUT) {	//TODO: delete this as soon as possible	long movementTimer = resetTimer();	while (time(movementTimer) < timeout) {	//wait for targeting to stabilize		if (group->moving==TARGET && !errorLessThan(group, group->waitErrorMargin))				movementTimer = resetTimer();		EndTimeSlice();	}	while (group->moving!=TARGET && group->moving!=NO) EndTimeSlice();}

void parseInput(){  writeDebugStreamLine("Beging parsing...");  ubyte BytesRead[20];  ubyte currByte[] = {0};  ubyte prevByte[] = {0};  ubyte conn[] = {0};  int cid;  string tmpString;  int index = 0;  while (true)  {    alive();	  if (nxtGetAvailHSBytes() > 0)	  {      nxtReadRawHS(currByte[0], 1);      if ((prevByte[0] == 27) && (currByte[0] == 'S')) {        index = 0;        memset(rxbuffer, 0, sizeof(rxbuffer));        wait1Msec(1);        nxtReadRawHS(conn[0], 1);        cid = conn[0] - 48;        writeDebugStreamLine("Conn: %d", cid);        while (true) {          while (nxtGetAvailHSBytes() == 0) EndTimeSlice();          nxtReadRawHS(currByte[0], 1);					if ((prevByte[0] == 27) && (currByte[0] == 'E')) {					  rxbuffer[index--] = 0;					  rxbuffer[index--] = 0;					  PlaySound(soundShortBlip);					  while(bSoundActive) EndTimeSlice();					  break;					}					prevByte[0] = currByte[0];          rxbuffer[index++] = currByte[0];				}				for (int i = 0; i < ((index / 19) + 1); i++) {					memset(BytesRead[0], 0, 20);					memcpy(BytesRead[0], rxbuffer[i*19], 19);					StringFromChars(tmpString, BytesRead);					writeDebugStream(tmpString);				}				genResponse(cid);      }      prevByte[0] = currByte[0];	  }	}}

task main() {  float pressure;  byte state = 0;  nxtDisplayTextLine(0, "Dexter Industries");  nxtDisplayCenteredTextLine(1, "dPressure 250");  nxtDisplayCenteredTextLine(3, "Test 1");  nxtDisplayCenteredTextLine(5, "Connect sensor");  nxtDisplayCenteredTextLine(6, "to S1");  wait1Msec(2000);  eraseDisplay();  nxtDisplayTextLine(0, "Dexter Industries");  nxtDisplayCenteredTextLine(7, "< switch scale >");  //loop to read temp  while (true) {    switch(nNxtButtonPressed) {      // If the right button is pressed, cycle through the scales      case kRightButton:        if (++state > 1)          state = 0;        while (nNxtButtonPressed != kNoButton) EndTimeSlice();        break;        // If the left button is pressed, cycle through the scales in reverse      case kLeftButton:        if (--state < 0)          state = 1;        // debounce the button        while (nNxtButtonPressed != kNoButton) EndTimeSlice();        break;    }    nxtDisplayCenteredBigTextLine(1, "Pressure:");    switch(state) {      // if state: 0, display temp in degrees celcius      case 0: DPRESSreadPress250kPa(DPRESS, pressure);              nxtDisplayCenteredBigTextLine(3, "%4.2f", pressure);              nxtDisplayCenteredBigTextLine(5, "kPa");              break;      // if state: 1, display temp in Fahrenheit      case 1: DPRESSreadPress250PSI(DPRESS, pressure);              nxtDisplayCenteredBigTextLine(3, "%4.2f", pressure);              nxtDisplayCenteredBigTextLine(5, "PSI.");              break;    }    wait1Msec(10);  }}

void calibrate() {    wait10Msec(20);    while(nNxtButtonPressed != kEnterButton) {        nxtDisplayCenteredTextLine(0, "Robonauts");        nxtDisplayCenteredTextLine(1, "Offense");        nxtDisplayCenteredBigTextLine(3, "Calibrate Compass");        nxtDisplayTextLine(4, "Abs:   %4d", HTMCreadHeading(Compass));        nxtDisplayCenteredTextLine(6, "Press Enter");    }    eraseDisplay();    nxtDisplayTextLine(2, "Setting");    nxtDisplayTextLine(3, "target");    wait1Msec(500);    // Set the current heading as the value for the offset to be used as the    // new zero-point for the relative heading returned by    // HTMCreadRelativeHeading()    _target = HTMCsetTarget(Compass);    PlaySound(soundBlip);    while(bSoundActive) {        EndTimeSlice();    }    while(nNxtButtonPressed != kEnterButton) {        nxtDisplayCenteredTextLine(0, "Robonauts");        nxtDisplayCenteredTextLine(1, "Offense");        nxtDisplayCenteredBigTextLine(3, "START ROBOT");        nxtDisplayCenteredTextLine(6, "Press Enter");    }    eraseDisplay();}

////////////////////////////BALL COUNTER TASKtask BALLCOUNTER (){	int CounterIn = 0;	int CounterOut = 0;	while(1)	{		//COUNT BALLS COMING IN		if(SensorValue[IR1] == 0 && CounterIn == 0)		{			BallCounter++;			CounterIn++;		}		if(SensorValue[IR1] == 1)		{			CounterIn = 0;		}		//COUNT BALLS COMING OUT		if(SensorValue[IR4] == 0 && CounterOut == 0)		{			CounterOut++;		}		if(SensorValue[IR4] == 1 && CounterOut == 1)		{			if(BallCounter > 0)			{				BallCounter--;			}			CounterOut = 0;		}		EndTimeSlice(); //OR DELAY 20 MILLI	}}

task main() {  int _chVal = 0;  nxtDisplayCenteredTextLine(0, "HiTechnic");  nxtDisplayCenteredBigTextLine(1, "Proto");  nxtDisplayCenteredTextLine(3, "Test 1");  nxtDisplayCenteredTextLine(5, "Connect SMUX to");  nxtDisplayCenteredTextLine(6, "S1 and HTPB to");  nxtDisplayCenteredTextLine(7, "SMUX Port 1");  wait1Msec(2000);  PlaySound(soundBeepBeep);  while(bSoundActive) EndTimeSlice();  eraseDisplay();  while(true) {    eraseDisplay();    // get the value for ADC channel 0, we want a 10 bit answer    _chVal = HTPBreadADC(HTPB, 0, 10);    nxtDisplayTextLine(4, "A0: %d", _chVal);    wait1Msec(10);  }}

task main () {  nNxtButtonTask  = -2;  nxtDisplayCenteredTextLine(0, "Mindsensors");  nxtDisplayCenteredBigTextLine(1, "Angle");  nxtDisplayCenteredTextLine(3, "Test 1");  nxtDisplayCenteredTextLine(5, "Connect sensor");  nxtDisplayCenteredTextLine(6, "to S1");  wait1Msec(2000);  eraseDisplay();  nxtDisplayCenteredTextLine(0, "GlideWheel-AS");  nxtDisplayTextLine(1, "-------------------");  nxtDisplayTextLine(5, "-------------------");  while (true) {    // Reset the angle to 0    if (nNxtButtonPressed == kEnterButton)    {      MSANGresetAngle(MSANG);      while (nNxtButtonPressed != kNoButton) EndTimeSlice();    }    // Read the current angle, accumulated angle and RPM and display them    nxtDisplayTextLine(2, "Ang: %7d deg", MSANGreadAngle(MSANG));    nxtDisplayTextLine(3, "Raw: %7d", MSANGreadRaw(MSANG));    nxtDisplayTextLine(4, "RPM: %7d", MSANGreadRPM(MSANG));    nxtDisplayTextLine(7, "   Reset angle");    wait1Msec(50);  }}

task main () {  short msg = 0x00FD;  eraseDisplay();  nxtDisplayTextLine(6, "Press [enter]");  nxtDisplayTextLine(7, "to send msg");  while(true) {    // Increment the msg    msg++;    while(nNxtButtonPressed != kEnterButton) EndTimeSlice();    while(nNxtButtonPressed != kNoButton) EndTimeSlice();    // Send the message to the RCX and display    PlaySound(soundBlip);    nxtDisplayCenteredBigTextLine(2, "0x%04X", msg);    HTRCXsendWord(HTRCX, msg);  }}

// Allow the user to calibrate the scalesvoid calibrateScales(){  int calibrateWeight = 0;  eraseDisplay();  nxtDisplayCenteredTextLine(0, "GlideWheel-AS");  nxtDisplayCenteredTextLine(2, "Place the object");  nxtDisplayCenteredTextLine(3, "on the scales");  nxtDisplayCenteredTextLine(4, "and press");  nxtDisplayCenteredTextLine(5, "[enter]");  nxtDisplayCenteredTextLine(6, "to calibrate");  while (nNxtButtonPressed != kEnterButton) EndTimeSlice();  debounce();  eraseDisplay();  calibrateWeight = weighObject();  nxtDisplayCenteredTextLine(0, "GlideWheel-AS");  nxtDisplayCenteredTextLine(2, "Enter the weight");  nxtDisplayCenteredTextLine(3, "in grams");  nxtDisplayCenteredTextLine(7, "-     OK     +");  while (true)  {    nxtDisplayCenteredBigTextLine(5, "%d", calibrateWeight);    switch(nNxtButtonPressed)    {      case kLeftButton: PlayTone(500,10); calibrateWeight--; calibrateWeight = max2(0, calibrateWeight); break;      case kRightButton: PlayTone(1000,10); calibrateWeight++; break;      case kEnterButton: PlayTone(1500,10);gramsPerUnit = (float)calibrateWeight / (float)MSANGreadRaw(MSANG); eraseDisplay(); return;    }    wait1Msec(20);    debounce();  }}

task stage1() {  int stage_one_up = 0;	while (true) {        if (vexRT[Btn5U] == 1 && stage_one_up == 0) {            motor[LIFT_STAGE_1] = FULL_FORWARD;            wait1Msec(4000);			      stage_one_up = 1;        }        else if (vexRT[Btn5D] == 1 && stage_one_up == 1) {            motor[LIFT_STAGE_1] = FULL_REVERSE;            wait1Msec(3000);        	  stage_one_up = 0;					}				else {            motor[LIFT_STAGE_1] = OFF;        }        EndTimeSlice();    }//END OF WHILE LOOP}//End of STAGE1 TASK

task main () {    // Get control over the buttons    nNxtButtonTask  = -2;    eraseDisplay();    nxtDisplayTextLine(0, "HTCS Test 2");    nxtDisplayTextLine(2, "Press orange");    nxtDisplayTextLine(3, "button to start");    nxtDisplayTextLine(4, "calibration.");    nxtDisplayTextLine(5, "Press grey");    nxtDisplayTextLine(6, "button to exit.");    while(nNxtButtonPressed != kEnterButton) EndTimeSlice();    eraseDisplay();    nxtDisplayTextLine(3, "Starting");    nxtDisplayTextLine(4, "calibration.");    // This call calibrates the white value.    if (!HTCScalWhite(HTCS)) {        eraseDisplay();        PlaySound(soundException);        nxtDisplayTextLine(3, "ERROR!!");        nxtDisplayTextLine(5, "Calibration");        nxtDisplayTextLine(6, "failed!!");        wait1Msec(2000);        StopAllTasks();    }    wait1Msec(1000);}

task stage3() {  int stage_three_up = 0;    while (true) {        if (vexRT[Btn7U] == 1 && stage_three_up == 0) {            motor[LIFT_STAGE_3] = FULL_FORWARD;            wait1Msec(3500);            stage_three_up = 1;        }        else if (vexRT[Btn7D] == 1 && stage_three_up == 1) {            motor[LIFT_STAGE_3] = FULL_REVERSE;            wait1Msec(3000);            stage_three_up = 0;        }        else {            motor[LIFT_STAGE_3] = OFF;        }        EndTimeSlice();    }//END OF WHILE LOOP}

task autonomous() {	initializeTasks();	stopTask(seymoreControl);	//startTask(skillPointAuto);	//startTask(stationaryAuto);	//startTask(hoardingAuto);	//startTask(classicAuto);	//startTask(skillz);	if (SensorValue[ternaryPot] < 1187) {		if (SensorValue[binaryPot] < 1217) {			startTask(stationaryAuto);		}		else {			startTask(skillPointAuto);		}	}	else if (SensorValue[ternaryPot] < 2577) {		if (SensorValue[binaryPot] < 1217) {			startTask(classicAuto);		}		else {			startTask(hoardingAuto);		}	}	else {		startTask(skillz);	}	while(true) { EndTimeSlice(); }}

task main () {  int raw = 0;  int nrm = 0;  // Get control over the buttons  nNxtButtonTask  = -2;  LSsetActive(LEGOLS);  eraseDisplay();  nxtDisplayTextLine(0, "Light Sensor Cal.");  nxtDisplayTextLine(2, "Left:  set black");  nxtDisplayTextLine(3, "Right: set white");  nxtDisplayTextLine(7, "Grey:  exit");  while (true) {    switch(nNxtButtonPressed) {      // if the left button is pressed calibrate the black value for the sensor      case kLeftButton:                        LScalLow(LEGOLS);                        PlaySound(soundBeepBeep);                        while(bSoundActive) EndTimeSlice();                        break;      // if the left button is pressed calibrate the white value for the sensor      case kRightButton:                        LScalHigh(LEGOLS);                        PlaySound(soundBeepBeep);                        while(bSoundActive) EndTimeSlice();                        break;    }    nxtDisplayClearTextLine(5);    nxtDisplayClearTextLine(6);    // Read the raw value of the sensor    raw = LSvalRaw(LEGOLS);    // Read the normalised value of the sensor    nrm = LSvalNorm(LEGOLS);    // Display the raw and normalised values    nxtDisplayTextLine(5, "R: %4d N: %4d", raw, nrm);    // Display the values for black and white    nxtDisplayTextLine(6, "B: %4d W: %4d", lslow[LEGOLS * 4], lshigh[LEGOLS * 4]);    wait1Msec(50);  }}

task main (){  ubyte counter = 0;  ubyte oldCounter = 0;  long rawValue = 0;  long oldRawValue = 0;  nxtDisplayCenteredTextLine(0, "Mindsensors");  nxtDisplayCenteredBigTextLine(1, "PSP-Nx");  nxtDisplayCenteredTextLine(3, "Test 3");  wait1Msec(2000);  PlaySound(soundBeepBeep);  while(bSoundActive) EndTimeSlice();  eraseDisplay();  while (true)  {    // Get the current counter value, wraps at 255    counter = PSPV4readRefSignalCount(PSPNXV4);    if (oldCounter != counter)    {      // Raw value will also "see" commands from the remote      // that are not recognised as "play", "stop", "forward" or "rewind".      // You could use this to control additional aspects of your robot!      rawValue = PSPV4readRawRefTXValue(PSPNXV4);      if (oldRawValue != rawValue)      {        PlaySound(soundShortBlip);        switch(rawValue)        {          case RAW_RIGHT:   nxtDisplayCenteredBigTextLine(3, "RIGHT");                            goBotRight();                            break;          case RAW_LEFT:    nxtDisplayCenteredBigTextLine(3, "LEFT");                            goBotLeft();                            break;          case RAW_FWD:     nxtDisplayCenteredBigTextLine(3, "FWD");                            goBotFwd();                            break;          case RAW_REV:     nxtDisplayCenteredBigTextLine(3, "REV");                            goBotRev();                            break;          case RAW_STOP:    nxtDisplayCenteredBigTextLine(3, "STOP");                            goBotStop();                            break;        }      }      nxtDisplayTextLine(7, "Raw:  0x%03X", rawValue);      // Update the counters and signals      oldCounter = counter;      oldRawValue = rawValue;    }    wait1Msec(50);  }}

task tankDrive() {    while (true) {        motor [DRIVE_MOTOR_RIGHT] = vexRT[Ch2];        motor [DRIVE_MOTOR_LEFT] = vexRT[Ch3];    }    EndTimeSlice();}

void CEvBlk::MarkAsFinished()  {  LockEvBlk();  if (pTS)    EndTimeSlice();  pCatItem->UpdateTime(this);  pEvHead->bFinished = true;  FreeEvBlk();  }

// Stop the calibration and complain loudly if somethign goes wrongvoid stopCalibration() {  if (!HTMCstopCal(HTCOMPASS)) {    eraseDisplay();    nxtDisplayTextLine(1, "ERROR: Calibration");    nxtDisplayTextLine(2, "has failed.");    nxtDisplayTextLine(4, "Check connection");    nxtDisplayTextLine(5, "and try again.");    PlaySound(soundException);    while(bSoundActive) EndTimeSlice();    wait1Msec(5000);    StopAllTasks();  } else {    nxtDisplayTextLine(1, "SUCCESS: ");    nxtDisplayTextLine(2, "Calibr. done.");    PlaySound(soundUpwardTones);    while(bSoundActive) EndTimeSlice();    wait1Msec(5000);  }}

task main () {  int _x_accel = 0;  int _y_accel = 0;  int _z_accel = 0;  int angleI = 0;  float angleF = 0.0;  int rotI = 0;  float rotF = 0.0;  nxtDisplayCenteredTextLine(0, "MicroInfinity");  nxtDisplayTextLine(1, "CruizCore XG1300L");  nxtDisplayCenteredTextLine(3, "Test 1");  wait1Msec(2000);  eraseDisplay();  // There are 3 ranges the Cruizcore XG1300L can measure in  // up to 2G  // up to 4G  // up to 8G  MICCsetRange8G(MICC);  // Make sure you always reset the sensor at the beginning of your program  // The robot needs to be completely stationary or your heading and gyro  // data won't be accurate.  MICCreset(MICC);  while(bSoundActive) EndTimeSlice();  nxtDisplayTextLine(0, "CruizCore XG1300L");  while (true) {    // Read the relative heading from the sensor.    angleI = MICCreadRelativeHeading(MICC);    angleF = angleI / 100.0;    // Read the rate of turn    rotI = MICCreadTurnRate(MICC);    rotF = rotI / 100.0;    // Read the acceleration data from the sensor    if (!MICCreadAccel(MICC, _x_accel, _y_accel, _z_accel)) {      nxtDisplayTextLine(4, "ERROR!!");      wait1Msec(2000);      StopAllTasks();    }    nxtDisplayTextLine(2, "Heading: %4.2f", angleF);    nxtDisplayTextLine(3, "RoT:     %4.2f", rotF);    nxtDisplayTextLine(5, "X:      %5.2f", _x_accel/100.0);    nxtDisplayTextLine(6, "Y:      %5.2f", _y_accel/100.0);    nxtDisplayTextLine(7, "Z:      %5.2f", _z_accel/100.0);    wait1Msec(50);  }}

task main () {  float x_Phi = 0.0;   // should be 0.494233933 according to Excel  float X_val = -20;  float X_mean = -19.80093313;   // mu  float X_std = 13.77254704;     // sigma  x_Phi = Phi(X_val, X_mean, X_std);  displayTextLine(2, "Phi(x): %f", x_Phi);  while(nNxtButtonPressed != kEnterButton) EndTimeSlice();}