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mobilerobotics
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Update 'main.c'

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master
Cole Deck 6 years ago
parent 79b42cae9a
commit 52471a17a5
1 changed files with 35 additions and 32 deletions
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67
main.c
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@ -19,10 +19,10 @@
// some variable definitions
#define MAX_SPEED 127 // Max speed of the motors
#define STOP 0
#define STOP 0
#define DEADZONE 10
/*
/*
23.4 / (2 * pi * 2.075) * 672.2
23.4 = inches in a tile
2.075 = exact radius of 4" omniwheels
@ -33,7 +33,7 @@
#define TILE 1206
// How much the wheels should spin in a 90 degree turn
#define POINTS_PER_TURN 320
#define POINTS_PER_TURN 320
// definitions for driveTiles()
#define FORWARD true
@ -41,12 +41,12 @@
void clearEnc() { // Reset driving motor encoder values to 0
nMotorEncoder[driveRB] = 0;
nMotorEncoder[driveLB] = 0;
nMotorEncoder[driveLB] = 0;
}
void shootBall() {
motor[shoot] = MAX_SPEED;
wait(1.25); // Shooting takes 1.25 seconds.
wait(1.25); // Shooting takes 1.25 seconds.
// Any unwanted extra movement will be undone by the rubber bands.
motor[shoot] = STOP;
}
@ -54,12 +54,12 @@ void turntoRight(float turns) {
clearEnc();
while(turns * POINTS_PER_TURN > nMotorEncoder[driveLB]){
motor[driveLB] = 100;
motor[driveLF] = 100;
motor[driveLF] = 100;
motor[driveRB] = -100;
motor[driveRF] = -100;
}
motor[driveLB] = 0;
motor[driveLF] = 0;
motor[driveLF] = 0;
motor[driveRB] = 0;
motor[driveRF] = 0;
}
@ -67,16 +67,16 @@ void turntoLeft(float turns) {
clearEnc();
while(turns * POINTS_PER_TURN > nMotorEncoder[driveRB]){
motor[driveLB] = -100;
motor[driveLF] = -100;
motor[driveLF] = -100;
motor[driveRB] = 100;
motor[driveRF] = 100;
}
}
motor[driveLB] = 0;
motor[driveLF] = 0;
motor[driveLF] = 0;
motor[driveRB] = 0;
motor[driveRF] = 0;
}
void flipOn() {
motor[bintake] = -MAX_SPEED;
@ -100,7 +100,7 @@ void joystickDrive() {
if(abs(vexRT[Ch2]) > DEADZONE) {
motor[driveRB] = vexRT[Ch2];
motor[driveRF] = vexRT[Ch2];
}
}
else {
motor[driveRB] = STOP;
motor[driveRF] = STOP;
@ -131,24 +131,24 @@ void pre_auton() {
bStopTasksBetweenModes = true;
}
void driveTiles(float numberOfTiles, bool direction) {
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[driveLF] = 100;
motor[driveRB] = 90;
motor[driveRF] = 90;
}
if(abs(nMotorEncoder[driveLB]) - 10 > nMotorEncoder[driveRB]) {
motor[driveLB] = 90;
motor[driveLF] = 90;
motor[driveLF] = 90;
motor[driveRB] = 100;
motor[driveRF] = 100;
} else {
motor[driveLB] = 100;
motor[driveLF] = 100;
motor[driveLF] = 100;
motor[driveRB] = 100;
motor[driveRF] = 100;
}
@ -156,65 +156,68 @@ void driveTiles(float numberOfTiles, bool direction) {
while(direction == REVERSE && numberOfTiles * TILE - 200 > -nMotorEncoder[driveRB]) {
if(abs(nMotorEncoder[driveRB]) - 10 > nMotorEncoder[driveLB]) {
motor[driveLB] = -100;
motor[driveLF] = -100;
motor[driveLF] = -100;
motor[driveRB] = -90;
motor[driveRF] = -90;
}
if(abs(nMotorEncoder[driveLB]) - 10 > nMotorEncoder[driveLB]) {
motor[driveLB] = -90;
motor[driveLF] = -90;
motor[driveLF] = -90;
motor[driveRB] = -100;
motor[driveRF] = -100;
} else {
motor[driveLB] = -100;
motor[driveLF] = -100;
motor[driveLF] = -100;
motor[driveRB] = -100;
motor[driveRF] = -100;
}
}
motor[driveLB] = 0;
motor[driveLF] = 0;
motor[driveLF] = 0;
motor[driveRB] = 0;
motor[driveRF] = 0;
}
task autonomous() {
turntoRight(0.05);
turntoRight(0.03);
shootBall();
turntoLeft(0.05);
turntoLeft(0.03);
driveTiles(2, FORWARD); // Move 2 forward to hit bottom flag
driveTiles(1, REVERSE);
turntoRight(1);
driveTiles(0.5, REVERSE); // Drive 1/3 of a tile backwards to hit the wall and align ourselves!
flipOn(); // Turn on the ball intake in reverse, which is what we can use to flip the caps
driveTiles(1.5, FORWARD); // flip cap
driveTiles(1.6, FORWARD); // flip cap
ballOff();
driveTiles(1.25, REVERSE);
driveTiles(1.35, REVERSE);
turntoLeft(1);
driveTiles(1, REVERSE);
turntoRight(1);
driveTiles(0.6, REVERSE);
driveTiles(2.5, FORWARD); // Flip the other cap without turning on the spinner
driveTiles(2.1, FORWARD); // Flip the other cap without turning on the spinner
flipOn();
driveTiles(0.5, FORWARD);
driveTiles(0.1, FORWARD);
ballIn(); // So we can pick up the ball!
ballIn();
driveTiles(0.1, REVERSE);
// So we can pick up the ball!
wait(3);
driveTiles(0.1, FORWARD);
driveTiles(0.1, REVERSE);
turntoLeft(1);
driveTiles(0.25, REVERSE);
driveTiles(0.2, REVERSE);
wait(3);
ballOff();
shootBall();
driveTiles(0.25, FORWARD); // Hit middle column bottom flag
driveTiles(0.05, REVERSE);
driveTiles(0.33, FORWARD); // Hit middle column bottom flag
//driveTiles(2, REVERSE);
wait(2);
turntoRight(1);
driveTiles(2.5, REVERSE);
driveTiles(2.2, REVERSE);
turntoLeft(1);
driveTiles(1, REVERSE);
turntoRight(1);
driveTiles(0.25, REVERSE);
driveTiles(3, FORWARD);
}
task usercontrol() { // In user control mode
while (true) {

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