cryproc.m

% cry procedure
function y = cryproc(n)
begin

% Set up parameters for driving the motor forward
mA = NXTMotor('A'); % associate mA with the motor connected to port A
mA.Power = 20; % drive the motor at 40% power
mA.TachoLimit = 40; % set the tacho limit to 700 degrees
mA.ActionAtTachoLimit = 'Brake'; % brake to stop precisely at the tacho limit

% Send the information in mA to the motor - it will now start turning
mA.SendToNXT();

% Wait until the motor has completely stopped
mA.WaitFor();
mA.TachoLimit = 80; % set the tacho limit to 80 degrees
% Set up parameters for driving the motor back to its start position
mA.Power = -100; % all other parameters remain unchanged

% Send the information in mA to the motor - it will now turn the other way
mA.SendToNXT();

% Wait until the motor has completely stopped
mA.WaitFor();

end