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mobilerobotics
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Update 'main.c'

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master
Cole Deck 5 years ago
parent 52471a17a5
commit 092a2cbbe3
1 changed files with 52 additions and 52 deletions
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104
main.c
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@ -19,9 +19,10 @@
// some variable definitions
#define MAX_SPEED 127 // Max speed of the motors
#define MAX_AUTO_SPEED 100 // Max speed of the driving motors during the autonomous code
#define STOP 0
#define DEADZONE 10
#define DRIVE_OFFSET 10
/*
23.4 / (2 * pi * 2.075) * 672.2
23.4 = inches in a tile
@ -39,6 +40,13 @@
#define FORWARD true
#define REVERSE false
void stopDriving() { // Stop all driving motors
motor[driveLB] = STOP;
motor[driveLF] = STOP;
motor[driveRB] = STOP;
motor[driveRF] = STOP;
}
void clearEnc() { // Reset driving motor encoder values to 0
nMotorEncoder[driveRB] = 0;
nMotorEncoder[driveLB] = 0;
@ -53,28 +61,22 @@ void shootBall() {
void turntoRight(float turns) {
clearEnc();
while(turns * POINTS_PER_TURN > nMotorEncoder[driveLB]){
motor[driveLB] = 100;
motor[driveLF] = 100;
motor[driveRB] = -100;
motor[driveRF] = -100;
motor[driveLB] = MAX_AUTO_SPEED;
motor[driveLF] = MAX_AUTO_SPEED;
motor[driveRB] = -MAX_AUTO_SPEED;
motor[driveRF] = -MAX_AUTO_SPEED;
}
motor[driveLB] = 0;
motor[driveLF] = 0;
motor[driveRB] = 0;
motor[driveRF] = 0;
stopDriving();
}
void turntoLeft(float turns) {
clearEnc();
while(turns * POINTS_PER_TURN > nMotorEncoder[driveRB]){
motor[driveLB] = -100;
motor[driveLF] = -100;
motor[driveRB] = 100;
motor[driveRF] = 100;
motor[driveLB] = -MAX_AUTO_SPEED;
motor[driveLF] = -MAX_AUTO_SPEED;
motor[driveRB] = MAX_AUTO_SPEED;
motor[driveRF] = MAX_AUTO_SPEED;
}
motor[driveLB] = 0;
motor[driveLF] = 0;
motor[driveRB] = 0;
motor[driveRF] = 0;
stopDriving();
}
@ -82,7 +84,7 @@ void flipOn() {
motor[bintake] = -MAX_SPEED;
}
void ballOff() {
motor[bintake] = 0;
motor[bintake] = STOP;
}
void ballIn() {
motor[bintake] = MAX_SPEED;
@ -135,48 +137,47 @@ void driveTiles(float numberOfTiles, bool direction) {
// when direction is true, move forward, otherwise go in reverse
clearEnc();
while(direction == FORWARD && numberOfTiles * TILE - 200 > nMotorEncoder[driveRB]) {
if(abs(nMotorEncoder[driveRB]) - 10 > nMotorEncoder[driveLB]) {
motor[driveLB] = 100;
motor[driveLF] = 100;
motor[driveRB] = 90;
motor[driveRF] = 90;
if(abs(nMotorEncoder[driveRB]) - DRIVE_OFFSET > nMotorEncoder[driveLB]) {
motor[driveLB] = MAX_AUTO_SPEED;
motor[driveLF] = MAX_AUTO_SPEED;
motor[driveRB] = MAX_AUTO_SPEED - DRIVE_OFFSET;
motor[driveRF] = MAX_AUTO_SPEED - DRIVE_OFFSET;
}
if(abs(nMotorEncoder[driveLB]) - 10 > nMotorEncoder[driveRB]) {
motor[driveLB] = 90;
motor[driveLF] = 90;
motor[driveRB] = 100;
motor[driveRF] = 100;
if(abs(nMotorEncoder[driveLB]) - DRIVE_OFFSET > nMotorEncoder[driveRB]) {
motor[driveLB] = MAX_AUTO_SPEED - DRIVE_OFFSET;
motor[driveLF] = MAX_AUTO_SPEED - DRIVE_OFFSET;
motor[driveRB] = MAX_AUTO_SPEED;
motor[driveRF] = MAX_AUTO_SPEED;
} else {
motor[driveLB] = 100;
motor[driveLF] = 100;
motor[driveRB] = 100;
motor[driveRF] = 100;
motor[driveLB] = MAX_AUTO_SPEED;
motor[driveLF] = MAX_AUTO_SPEED;
motor[driveRB] = MAX_AUTO_SPEED;
motor[driveRF] = MAX_AUTO_SPEED;
}
}
while(direction == REVERSE && numberOfTiles * TILE - 200 > -nMotorEncoder[driveRB]) {
if(abs(nMotorEncoder[driveRB]) - 10 > nMotorEncoder[driveLB]) {
motor[driveLB] = -100;
motor[driveLF] = -100;
motor[driveRB] = -90;
motor[driveRF] = -90;
if(abs(nMotorEncoder[driveRB]) - DRIVE_OFFSET > nMotorEncoder[driveLB]) {
motor[driveLB] = -MAX_AUTO_SPEED;
motor[driveLF] = -MAX_AUTO_SPEED;
motor[driveRB] = -MAX_AUTO_SPEED + DRIVE_OFFSET;
motor[driveRF] = -MAX_AUTO_SPEED + DRIVE_OFFSET;
}
if(abs(nMotorEncoder[driveLB]) - 10 > nMotorEncoder[driveLB]) {
motor[driveLB] = -90;
motor[driveLF] = -90;
motor[driveRB] = -100;
motor[driveRF] = -100;
if(abs(nMotorEncoder[driveLB]) - DRIVE_OFFSET > nMotorEncoder[driveLB]) {
motor[driveLB] = -MAX_AUTO_SPEED + DRIVE_OFFSET;
motor[driveLF] = -MAX_AUTO_SPEED + DRIVE_OFFSET;
motor[driveRB] = -MAX_AUTO_SPEED;
motor[driveRF] = -MAX_AUTO_SPEED;
} else {
motor[driveLB] = -100;
motor[driveLF] = -100;
motor[driveRB] = -100;
motor[driveRF] = -100;
motor[driveLB] = -MAX_AUTO_SPEED;
motor[driveLF] = -MAX_AUTO_SPEED;
motor[driveRB] = -MAX_AUTO_SPEED;
motor[driveRF] = -MAX_AUTO_SPEED;
}
}
motor[driveLB] = 0;
motor[driveLF] = 0;
motor[driveRB] = 0;
motor[driveRF] = 0;
stopDriving();
}
task autonomous() {
turntoRight(0.03);
shootBall();
@ -207,8 +208,7 @@ task autonomous() {
ballOff();
shootBall();
driveTiles(0.05, REVERSE);
driveTiles(0.33, FORWARD); // Hit middle column bottom flag
//driveTiles(2, REVERSE);
driveTiles(0.33, FORWARD);
wait(2);
turntoRight(1);
driveTiles(2.2, REVERSE);

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