ROBOTC

Reference

While Loops with Natural Language

A while loop is a structure within ROBOTC which allows a section of code to be repeated
as long as a certain condition remains true.

There are three main parts to every while loop.

Part 1. The keyword “while”.

while(condition)
{ while
Every while loop begins with the keyword “while”.
// repeated-commands
}

Part 2. The condition.

while(condition) (condition)
{ The condition controls how long or how many times a while loop
repeats. While the condition is true, the while loop repeats; when
// repeated-commands the condition is false, the while loop ends and the robot moves
} on in the program. The condition is checked every time the loop
repeats, before the commands between the curly braces are run.

Part 3. The commands to be repeated, or “looped”.

while(condition)
{
// repeated-commands Repeated commands
Commands placed between the curly braces will repeat
} while the (condition) is true when the program checks at
the beginning of each pass through the loop.

Below is an example of a program using an infinite While Loop.

task main()
{
while(1 == 1) The condition is true as long as
1 is equal to 1, which is always.
{
startMotor(port2, 63);
wait(5.0);
While the condition is true, the
startMotor(port2, -63); port2 motor will turn forward
wait(5.0); for 5 seconds, then in reverse
for 5 seconds.
}
} Result: The port2 motor will turn
back and forth, forever.

© Carnegie Mellon Robotics Academy / For use with VEX® Robotics Systems While Loop
 ROBOTC

Reference

While Loops with Natural Language

Below is an example of a program using a counter-controlled While Loop.

task main()
{
int count = 0; Creates an integer variable named
“count” and gives it an initial value of 0.

while(count < 4) Checks if count is “less than” 4.
{
startMotor(port2, 63);
wait(5.0);

startMotor(port2, -63);
wait(5.0);

count = count + 1; Adds 1 to count every time the loop runs.

} Result: The loop repeats 4 times, causing
} the port2 motor to turn back and forth,
four times.

Below is an example of a program using a sensor-controlled While Loop.

#pragma config(Sensor, dgtl1, Estop, sensorTouch)

#pragma config(Sensor, dgtl2, controlBtn, sensorTouch)
#pragma config(Sensor, dgtl3, LED, sensorDigitalOut)

task main()
{
while(SensorValue[Estop] == 0) Checks if the “Estop” touch sensor
is equal to 0 (unpressed).
{
if(SensorValue[controlBtn] == 1)
If the “controlBtn” is pressed, turn the LED
{ on; if it’s not, turn the LED off.
turnLEDOn(LED);
Result: The loop repeats continuously,
} allowing the LED to be turned on while
else the “controlBtn” is pressed, and off while
“controlBtn” is released. The loop will
{ stop as soon as the “Estop” touch sensor
turnLEDOff(LED); is pressed.
}
}
}

© Carnegie Mellon Robotics Academy / For use with VEX® Robotics Systems While Loop