MoveSensor.nxc

#define SCANNERMOTOR OUT_A
#define SCANNORMOTORDIPANGLE 73
#define SCANNERSENSOR S1
#define SCANNERTHRESHOLD 38
#define DEBUGSENSOR


byte readBit() {
	RotateMotor(SCANNERMOTOR, 20, -SCANNORMOTORDIPANGLE);
	Wait(200);

	SetSensorColorGreen(SCANNERSENSOR);
	ResetSensor(SCANNERSENSOR);
	unsigned int val = Sensor(SCANNERSENSOR);
	TextOut(15, LCD_LINE4, StrCat(StrCat("RAW: ", NumToStr(val)), "     "));	
	for (int x=0; x < 9; x++) {
		SetSensorColorGreen(SCANNERSENSOR);
		ResetSensor(SCANNERSENSOR);
		Wait(50);
		val += Sensor(SCANNERSENSOR);
	}
	val = val / 10;
	TextOut(15, LCD_LINE5, StrCat(StrCat("AVG: ", NumToStr(val)), "     "));	
	if (val < SCANNERTHRESHOLD) {
		TextOut(15, LCD_LINE6, "Result: 1");	
	}
	else {
		TextOut(15, LCD_LINE6, "Result: 0");	
	}
	SetSensorColorNone(SCANNERSENSOR);
	ResetSensor(SCANNERSENSOR);

	RotateMotor(SCANNERMOTOR, 30, SCANNORMOTORDIPANGLE);
	Wait(10);
	return val < SCANNERTHRESHOLD ? 1 : 0;
}


task main() {
	for (int i=0; i < 20; i++) {
		readBit();
		Wait(1000);
	}
}