Update 'main.c'

main.c

@@ -18,24 +18,32 @@
 #include "Vex_Competition_Includes.c"
 
 // some variable definitions
-#define MAX_SPEED 127
+#define MAX_SPEED 127 // Max speed of the motors
-#define STOP 0
+#define STOP 0 
 #define DEADZONE 10
 
 /* 
-  23.4 / (2 * pi * 2.075) * 360
+  23.4 / (2 * pi * 2.075) * 672.2
   23.4 = inches in a tile
   2.075 = exact radius of 4" omniwheels
   2 * pi * r is circumference of the wheel
-  360 degrees in a circle
+  627.2 points in a revolution with the vex encoders
-  final calculation is the amount of degrees of rotation per tile of movement
+  final calculation is the amount of points of rotation per tile of movement
 */
-#define TILE 646
+#define TILE 1206
+
+// How much the wheels should spin in a 90 degree turn
+#define POINTS_PER_TURN 360 
+
+// definitions for driveTiles()
+#define FORWARD true
+#define REVERSE false
 
 void shootBall() {
   motor[shoot] = MAX_SPEED;
-	wait(1.25); // Shooting takes 1.25 seconds.
+  wait(1.25); // Shooting takes 1.25 seconds. 
-	motor[shoot] = STOP;
+  // Any unwanted extra movement will be undone by the rubber bands.
+  motor[shoot] = STOP;
 }
 void clearEnc();
 void joystickDrive() {
@@ -54,7 +62,7 @@ void joystickDrive() {
   else {
   	motor[driveRB] = STOP;
     motor[driveRF] = STOP;
-	}
+  }
 }
 
 void buttonChecks() {
@@ -67,10 +75,9 @@ void buttonChecks() {
   else {
     motor[bintake] = STOP;
   }
-  //Flipper Code
   if (vexRT[Btn8D] == 1) {
   	shootBall();
-  }
+  } // No need for reverse on the ball launcher!
 }
 
 
@@ -82,9 +89,10 @@ void pre_auton() {
   bStopTasksBetweenModes = true;
 }
 
-void driveTiles(int numberOfTiles, bool direction) {
+void driveTiles(int numberOfTiles, bool direction) { 
+    // when direction is true, move forward, otherwise go in reverse
 	clearEnc();
-	while(direction && numberOfTiles * TILE > nMotorEncoder[1]) {
+	while(direction == FORWARD && numberOfTiles * TILE > nMotorEncoder[1]) {
 			if(abs(nMotorEncoder[1]) - 10 > nMotorEncoder[2]) {
     		motor[driveLB] = 100;
     		motor[driveLF] = 100; 
@@ -103,7 +111,7 @@ void driveTiles(int numberOfTiles, bool direction) {
     		motor[driveRF] = 100;
     	}
 	}
-    while(!direction && numberOfTiles * TILE > nMotorEncoder[1]) {
+    while(direction == REVERSE && numberOfTiles * TILE > nMotorEncoder[1]) {
 			if(abs(nMotorEncoder[1]) - 10 > nMotorEncoder[2]) {
     		motor[driveLB] = -100;
     		motor[driveLF] = -100; 
@@ -129,28 +137,27 @@ void driveTiles(int numberOfTiles, bool direction) {
 }
 task autonomous() {
 	shootBall();
-	driveTiles(2, true);
+	driveTiles(2, true); // Move 2 forward to hit bottom flag
     //driveTiles(1, false);
 }
 void turnRight(int turns) {
-  while(turns * 360 < nMotorEncoder[1]){
+  while(turns * POINTS_PER_TURN < nMotorEncoder[1]){
     	
   }
 }
 void turnLeft(int turns) {
-  while(turns * 360 < nMotorEncoder[1]){
+  while(turns * POINTS_PER_TURN < nMotorEncoder[1]){
     	
   }  
 }
       
-void clearEnc() {
+void clearEnc() { // Reset driving motor encoder values to 0
     nMotorEncoder[1] = 0;
     nMotorEncoder[2] = 0;    
 }
-task usercontrol() {
+task usercontrol() { // In user control mode
   while (true) {
-  	//Dual Driving
+    joystickDrive(); // Joystick mapping function
-    joystickDrive();
+    buttonChecks();  // Button mapping, for lift, ball launcher, etc.
-    buttonChecks();
   }
 }