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fix auton parking

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master
Cole Deck 6 years ago
parent db09576032
commit 450d3c3997
1 changed files with 57 additions and 59 deletions
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116
main.c
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@ -1,4 +1,6 @@
#pragma config(I2C_Usage, I2C1, i2cSensors) #pragma config(I2C_Usage, I2C1, i2cSensors)
#pragma config(Sensor, dgtl1, , sensorSONAR_inch)
#pragma config(Sensor, dgtl3, , sensorSONAR_inch)
#pragma config(Sensor, I2C_1, , sensorQuadEncoderOnI2CPort, , AutoAssign ) #pragma config(Sensor, I2C_1, , sensorQuadEncoderOnI2CPort, , AutoAssign )
#pragma config(Sensor, I2C_2, , sensorQuadEncoderOnI2CPort, , AutoAssign ) #pragma config(Sensor, I2C_2, , sensorQuadEncoderOnI2CPort, , AutoAssign )
#pragma config(Motor, port1, , tmotorVex393_HBridge, openLoop) #pragma config(Motor, port1, , tmotorVex393_HBridge, openLoop)
@ -23,27 +25,27 @@
// Set motor maximum speed, this allows for tweaking the speed of the robot with one change. // Set motor maximum speed, this allows for tweaking the speed of the robot with one change.
#define MAX_AUTO_SPEED 100 #define MAX_AUTO_SPEED 100
/* During the development of the autonomous portion of our code, we found that the robot /* During the development of the autonomous portion of our code, we found that the robot
would have issues turning and driving at MAX_SPEED causing it to turn too much, and would have issues turning and driving at MAX_SPEED causing it to turn too much, and
not driving straight. After limiting the driving speed to 100, we found that the robot not driving straight. After limiting the driving speed to 100, we found that the robot
was able to drive more consistently. was able to drive more consistently.
*/ */
#define STOP 0 #define STOP 0
// Defines the value for when a motor is stopped. // Defines the value for when a motor is stopped.
#define DEADZONE 10 #define DEADZONE 10
/* Defines the deadzone of the VEX controller. With our controllers, a value of 10 allowed /* Defines the deadzone of the VEX controller. With our controllers, a value of 10 allowed
for the motors to completely lose power when the joystick is let go. for the motors to completely lose power when the joystick is let go.
*/ */
#define DRIVE_OFFSET 10 #define DRIVE_OFFSET 10
/* Defines the offset used to correct curves while the robot is driving straight during the /* Defines the offset used to correct curves while the robot is driving straight during the
driveTiles(float numberOfTiles, bool direction) function. driveTiles(float numberOfTiles, bool direction) function.
*/ */
#define TILE 1206 #define TILE 1206
/* Definition for Rotation points per tile. /* Definition for Rotation points per tile.
Each tile is 23.4 inches wide. Each tile is 23.4 inches wide.
@ -53,20 +55,20 @@
2 * pi * r is circumference of the wheel - 13.0376 inches 2 * pi * r is circumference of the wheel - 13.0376 inches
There are 627.2 points in a revolution with the vex direct motor encoders - according to robotc There are 627.2 points in a revolution with the vex direct motor encoders - according to robotc
developers: “The 2-wire 393 motor measures 627.2 counts per revolution of the output shaft in its developers: “The 2-wire 393 motor measures 627.2 counts per revolution of the output shaft in its
default high-torque configuration and 392 counts per revolution of the output shaft in its default high-torque configuration and 392 counts per revolution of the output shaft in its
modified high-speed configuration.” modified high-speed configuration.”
So if we do 1 revolution * distance / radius we get 627.2 * 23.4 / 13.0376 = 1206. So if we do 1 revolution * distance / radius we get 627.2 * 23.4 / 13.0376 = 1206.
When the integrated motor encoder reports a movement of 1206, that means the robot has moved 1 tile. When the integrated motor encoder reports a movement of 1206, that means the robot has moved 1 tile.
*/ */
// How much the wheels should spin in a 90 degree turn // How much the wheels should spin in a 90 degree turn
#define POINTS_PER_TURN 320 #define POINTS_PER_TURN 320
/* Using trial and error, we found that our robot will make a 90 degree turn when the integrated motor /* Using trial and error, we found that our robot will make a 90 degree turn when the integrated motor
encoders report a distance of 320 while spinning in place. encoders report a distance of 320 while spinning in place.
*/ */
@ -74,9 +76,9 @@
// definitions for driveTiles() // definitions for driveTiles()
#define FORWARD true #define FORWARD true
#define REVERSE false #define REVERSE false
/* When the function driveTiles(float numberOfTiles, bool direction) is called, one of the explicit /* When the function driveTiles(float numberOfTiles, bool direction) is called, one of the explicit
parameters is a boolean for direction, where true is forward, and false is reverse. Using these parameters is a boolean for direction, where true is forward, and false is reverse. Using these
definitions in our code, it is clearer to us and readers as to what that parameter is for. definitions in our code, it is clearer to us and readers as to what that parameter is for.
*/ */
void stopDriving() { void stopDriving() {
@ -86,7 +88,7 @@ void stopDriving() {
motor[driveRF] = STOP; motor[driveRF] = STOP;
} }
// Explicit Parameters: None // Explicit Parameters: None
// Output: All four driving motors will be stopped, stopping the robot’s movements immediately. // Output: All four driving motors will be stopped, stopping the robot’s movements immediately.
@ -105,8 +107,8 @@ void shootBall() {
motor[shoot] = STOP; motor[shoot] = STOP;
} }
// Explicit Parameters: None // Explicit Parameters: None
// Output: The 2 motors connected to the shoot port will turn on for 1.25 seconds, which is // Output: The 2 motors connected to the shoot port will turn on for 1.25 seconds, which is
// precisely the amount of time needed for the motors to pull back and release the launcher. // precisely the amount of time needed for the motors to pull back and release the launcher.
void turntoRight(float turns) { void turntoRight(float turns) {
@ -119,9 +121,9 @@ void turntoRight(float turns) {
} }
stopDriving(); stopDriving();
} }
// Explicit Parameters: A floating point number turns will control how much the robot will turn to the right. // Explicit Parameters: A floating point number turns will control how much the robot will turn to the right.
// When turns is set to 1, the robot will turn exactly 90 degrees. Since it is a floating point number, we can // When turns is set to 1, the robot will turn exactly 90 degrees. Since it is a floating point number, we can
// specify decimal amounts to turns to allow for any angle of a turn. // specify decimal amounts to turns to allow for any angle of a turn.
// Output: The robot will turn by (turns * 90) degrees to the right. // Output: The robot will turn by (turns * 90) degrees to the right.
void turntoLeft(float turns) { void turntoLeft(float turns) {
@ -134,9 +136,9 @@ void turntoLeft(float turns) {
} }
stopDriving(); stopDriving();
} }
// Explicit Parameters: A floating point number turns will control how much the robot will turn to the left. // Explicit Parameters: A floating point number turns will control how much the robot will turn to the left.
// When turns is set to 1, the robot will turn exactly 90 degrees. Since it is a floating point number, we can // When turns is set to 1, the robot will turn exactly 90 degrees. Since it is a floating point number, we can
// specify decimal amounts to turns to allow for any angle of a turn. // specify decimal amounts to turns to allow for any angle of a turn.
// Output: The robot will turn by (turns * 90) degrees to the left. // Output: The robot will turn by (turns * 90) degrees to the left.
@ -152,8 +154,8 @@ void ballIn() {
} }
// Explicit Parameters: None // Explicit Parameters: None
// Output: These three functions manage the ball lift and, conveniently, the same motors in reverse will // Output: These three functions manage the ball lift and, conveniently, the same motors in reverse will
// flip a cap. flipOn() will spin the motors in the direction needed to flip caps, ballIn() will spin the // flip a cap. flipOn() will spin the motors in the direction needed to flip caps, ballIn() will spin the
// motors in the direction needed to collect and pick up balls, and ballOff() will turn off the motors. // motors in the direction needed to collect and pick up balls, and ballOff() will turn off the motors.
void joystickDrive() { void joystickDrive() {
@ -175,10 +177,10 @@ void joystickDrive() {
} }
} }
// Explicit Parameters: None // Explicit Parameters: None
// Output: The robot will drive based on the values read from the 2 joysticks on the controller. However, // Output: The robot will drive based on the values read from the 2 joysticks on the controller. However,
// if the joystick’s value is inside the DEADZONE (10) then the robot will not move. This prevents wasted // if the joystick’s value is inside the DEADZONE (10) then the robot will not move. This prevents wasted
// battery and motor overheating when the robot is not supposed to be moving. This is necessary because when // battery and motor overheating when the robot is not supposed to be moving. This is necessary because when
// the joysticks are let go they don’t read a value of exactly zero, it’s usually off by a few. // the joysticks are let go they don’t read a value of exactly zero, it’s usually off by a few.
void buttonChecks() { void buttonChecks() {
@ -196,7 +198,7 @@ void buttonChecks() {
} // No need for reverse on the ball launcher! } // No need for reverse on the ball launcher!
} }
// Explicit Parameters: None // Explicit Parameters: None
// Output: When the corresponding buttons are pressed, various features will be activated, such as the cap // Output: When the corresponding buttons are pressed, various features will be activated, such as the cap
// flipper or the ball launcher. When the buttons are released, the action is stopped. // flipper or the ball launcher. When the buttons are released, the action is stopped.
@ -251,14 +253,14 @@ void driveTiles(float numberOfTiles, bool direction) {
} }
stopDriving(); stopDriving();
} }
// Explicit Parameters: A floating point number numberOfTurns that represents the number of tiles that the // Explicit Parameters: A floating point number numberOfTurns that represents the number of tiles that the
// robot is to drive. Since it is a floating point number, we can move by half or any fraction movement. // robot is to drive. Since it is a floating point number, we can move by half or any fraction movement.
// There is also the boolean value direction that controls which way the robot is to move. true is for forward, // There is also the boolean value direction that controls which way the robot is to move. true is for forward,
// and false is for reverse. // and false is for reverse.
// Output: The robot will drive the specified amount of tiles, in the specified direction. If the robot is not driving // Output: The robot will drive the specified amount of tiles, in the specified direction. If the robot is not driving
// straight, the speeds of the left and right motors can be offset from each other to cancel out any slight drifts // straight, the speeds of the left and right motors can be offset from each other to cancel out any slight drifts
// to the left or right. We subtract 200 from the distance no matter what here, because the robot moves // to the left or right. We subtract 200 from the distance no matter what here, because the robot moves
// that much after it is told to stop. // that much after it is told to stop.
task autonomous() { task autonomous() {
turntoRight(0.03); turntoRight(0.03);
@ -276,23 +278,20 @@ task autonomous() {
driveTiles(1, REVERSE); driveTiles(1, REVERSE);
turntoRight(1); turntoRight(1);
driveTiles(0.6, REVERSE); driveTiles(0.6, REVERSE);
driveTiles(2.1, FORWARD); // Flip the other cap without turning on the spinner driveTiles(2, FORWARD); // Flip the other cap without turning on the spinner
flipOn(); // So we can pick up the ball that's under it! flipOn(); // So we can pick up the ball that's under it!
driveTiles(0.5, FORWARD); driveTiles(0.5, FORWARD);
ballIn(); ballIn();
driveTiles(0.1, REVERSE); driveTiles(0.3, REVERSE);
wait(3); wait(3);
driveTiles(0.1, REVERSE); driveTiles(0.5, REVERSE);
turntoLeft(1); turntoLeft(0.75);
driveTiles(0.2, REVERSE); //driveTiles(0.2, REVERSE);
wait(3); wait(3);
ballOff(); ballOff();
shootBall(); shootBall();
driveTiles(0.05, REVERSE); turntoRight(0.75);
driveTiles(0.33, FORWARD); driveTiles(1.9, REVERSE);
wait(2);
turntoRight(1);
driveTiles(2.2, REVERSE);
turntoLeft(1); turntoLeft(1);
driveTiles(1, REVERSE); driveTiles(1, REVERSE);
turntoRight(1); turntoRight(1);
@ -302,15 +301,15 @@ task autonomous() {
/* /*
This is the autonomous task. Here’s the path of the robot, described in words instead of code: This is the autonomous task. Here’s the path of the robot, described in words instead of code:
1. Start at the red tile closest to the flags. 1. Start at the red tile closest to the flags.
2. Turn a tiny bit to the right to aim, and shoot the top flag with our preload. 2. Turn a tiny bit to the right to aim, and shoot the top flag with our preload.
3. Re-align ourselves and drive to hit the bottom flag. 3. Re-align ourselves and drive to hit the bottom flag.
4. Back up 1 tile, turn right, and back into the wall to align the robot. 4. Back up 1 tile, turn right, and back into the wall to align the robot.
5. Drive forward with the flipper turned on, and flip the cap from blue to red. 5. Drive forward with the flipper turned on, and flip the cap from blue to red.
6. Back up, turn left, reverse 1 tile, turn right, back into the wall again to align ourselves. 6. Back up, turn left, reverse 1 tile, turn right, back into the wall again to align ourselves.
@ -326,17 +325,16 @@ This is the autonomous task. Here’s the path of the robot, described in words
12. Turn to face the parking platforms, and reverse into the wall to align ourselves again. 12. Turn to face the parking platforms, and reverse into the wall to align ourselves again.
13. Climb to the middle parking platform and stop. 13. Climb to the middle parking platform and stop.
*/ */
task usercontrol() { task usercontrol() {
while (true) { while (true) {
joystickDrive(); joystickDrive();
buttonChecks(); buttonChecks();
} }
} }
// When the driver is in control, this task runs. For the entire duration of the driver control period, we need // When the driver is in control, this task runs. For the entire duration of the driver control period, we need
// to be able to control the robot, so we put everything in a while loop. The task calls 2 previously mentioned // to be able to control the robot, so we put everything in a while loop. The task calls 2 previously mentioned
// functions, joystickDrive() and buttonChecks(). // functions, joystickDrive() and buttonChecks().
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