Or so I thought. I barely found documentation on "NQC" - not quite C, the replacement/enhancement for Mindstorms - dated 2000. A full 90% of the links
were "dead", links to code, ideas, work, everything. The "LugNet" main site had some ancient forum Q&A, but nothing on the simple code to make my Lego "torbot" run. Even Lego corp itself had no links on the Original Mindstorm, something I assumed to be an iconic product that could never go away.
Anyway, I will hereby post code to run "The Torbot" and hope it may survive for others to use, copy, and learn from. I included a sniffing routing to use the IR eyeball/give the bot some motivation.
// torbot.nqc - run that lego mindstorm 1 torbot please
//
// T.Stiers 20111019
//
// copyright tronbikes.com 2011
//
sub forward() {
OnRev(OUT_C);
OnFwd(OUT_A);
}
sub backward() {
OnFwd(OUT_C);
OnRev(OUT_A);
}
sub right() {
OnFwd(OUT_A);
}
sub left() {
OnRev(OUT_C);
}
sub backright() {
OnFwd(OUT_C);
}
sub backleft() {
OnRev(OUT_A);
}
sub whoa() {
Off(OUT_A+OUT_C);
}
task sniff() {
PlaySound(1); Wait(100);
while( true ) {
if ( SENSOR_2 < 700 ) {
forward(); Wait(25);
whoa(); Wait(25);
}
if ( SENSOR_2 < 700) {
right(); Wait(25);
whoa(); Wait(25);
}
if ( SENSOR_2 < 700 ) {
forward(); Wait(25);
whoa(); Wait(25);
}
if ( SENSOR_2 < 700) {
left(); Wait(25);
whoa(); Wait(25);
}
}
}
task main()
{
SelectDisplay(DISPLAY_SENSOR_2);
SetSensor(SENSOR_1,SENSOR_TOUCH);
SetSensor(SENSOR_3,SENSOR_TOUCH);
start sniff;
while (true)
{
if ( SENSOR_1 == 1 || SENSOR_3 == 1 ) {
stop sniff;
PlaySound(4);Wait(5);
// backward(); Wait(25); whoa();
if ( SENSOR_1 == 1 ) {
backleft(); Wait(150); whoa();
}
if ( SENSOR_3 == 1 ) {
backright(); Wait(150); whoa();
}
if ( SENSOR_1 == 1 && SENSOR_3 == 1 ) {
backward(); Wait(50); whoa();
}
if (SENSOR_1 == 0 || SENSOR_3 == 0 ) {
start sniff;
}
}
}
}
