potRollover.c

#pragma config(Hubs,  S1, HTMotor,  HTServo,  HTMotor,  none)
#pragma config(Sensor, S2,     proto,               sensorI2CCustom9V)
#pragma config(Sensor, S3,     gyro,                sensorI2CHiTechnicGyro)
#pragma config(Motor,  mtr_S1_C1_1,     pod2Drive,     tmotorNormal, openLoop)
#pragma config(Motor,  mtr_S1_C1_2,     pod3Drive,     tmotorNormal, openLoop)
#pragma config(Motor,  mtr_S1_C3_1,     pod1Drive,     tmotorNormal, openLoop)
#pragma config(Motor,  mtr_S1_C3_2,     pod0Drive,     tmotorNormal, openLoop)
#pragma config(Servo,  srvo_S1_C2_1,    pod0Steer,            tServoStandard)
#pragma config(Servo,  srvo_S1_C2_2,    pod1Steer,            tServoStandard)
#pragma config(Servo,  srvo_S1_C2_3,    pod2Steer,            tServoStandard)
#pragma config(Servo,  srvo_S1_C2_4,    pod3Steer,            tServoStandard)
#pragma config(Servo,  srvo_S1_C2_5,    servo5,               tServoNone)
#pragma config(Servo,  srvo_S1_C2_6,    servo6,               tServoNone)
//*!!Code automatically generated by 'ROBOTC' configuration wizard               !!*//

#include "drivers/HTSPB-driver.h"

int counts = 0;
int lastPos = 0;
int currentPos = 0;

int getPotPosition(int pos, int rollovers)
{
  if ( rollovers == -1 )
    return (255-pos)*-1;
  if ( rollovers <= -1 )
    rollovers +=1;
  return pos+(rollovers*255);
}

task main()
{
  lastPos = currentPos = HTSPBreadADC(proto, 0, 8);
  while ( true )
  {
    int reading = HTSPBreadADC(proto, 0, 8);
    int dif = reading-lastPos;
    if ( dif > 100 )
      counts--;
    else if ( dif < -100 )
      counts++;
    currentPos = getPotPosition(reading, counts);


    nxtDisplayString(0, "Rolls: %i", counts);
    nxtDisplayString(1, "Value: %i", currentPos);

   wait1Msec(100);
   lastPos = reading;
  }
}