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mobilerobotics
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Update 'main.c'

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master
Cole Deck 5 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 // some variable definitions
#define MAX_SPEED 127 // Max speed of the motors #define MAX_SPEED 127 // Max speed of the motors
#define STOP 0 #define STOP 0
#define DEADZONE 10 #define DEADZONE 10
/* /*
23.4 / (2 * pi * 2.075) * 672.2 23.4 / (2 * pi * 2.075) * 672.2
23.4 = inches in a tile 23.4 = inches in a tile
2.075 = exact radius of 4" omniwheels 2.075 = exact radius of 4" omniwheels
@ -33,7 +33,7 @@
#define TILE 1206 #define TILE 1206
// 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
// definitions for driveTiles() // definitions for driveTiles()
#define FORWARD true #define FORWARD true
@ -41,12 +41,12 @@
void clearEnc() { // Reset driving motor encoder values to 0 void clearEnc() { // Reset driving motor encoder values to 0
nMotorEncoder[driveRB] = 0; nMotorEncoder[driveRB] = 0;
nMotorEncoder[driveLB] = 0; nMotorEncoder[driveLB] = 0;
} }
void shootBall() { void shootBall() {
motor[shoot] = MAX_SPEED; 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. // Any unwanted extra movement will be undone by the rubber bands.
motor[shoot] = STOP; motor[shoot] = STOP;
} }
@ -54,12 +54,12 @@ void turntoRight(float turns) {
clearEnc(); clearEnc();
while(turns * POINTS_PER_TURN > nMotorEncoder[driveLB]){ while(turns * POINTS_PER_TURN > nMotorEncoder[driveLB]){
motor[driveLB] = 100; motor[driveLB] = 100;
motor[driveLF] = 100; motor[driveLF] = 100;
motor[driveRB] = -100; motor[driveRB] = -100;
motor[driveRF] = -100; motor[driveRF] = -100;
} }
motor[driveLB] = 0; motor[driveLB] = 0;
motor[driveLF] = 0; motor[driveLF] = 0;
motor[driveRB] = 0; motor[driveRB] = 0;
motor[driveRF] = 0; motor[driveRF] = 0;
} }
@ -67,16 +67,16 @@ void turntoLeft(float turns) {
clearEnc(); clearEnc();
while(turns * POINTS_PER_TURN > nMotorEncoder[driveRB]){ while(turns * POINTS_PER_TURN > nMotorEncoder[driveRB]){
motor[driveLB] = -100; motor[driveLB] = -100;
motor[driveLF] = -100; motor[driveLF] = -100;
motor[driveRB] = 100; motor[driveRB] = 100;
motor[driveRF] = 100; motor[driveRF] = 100;
} }
motor[driveLB] = 0; motor[driveLB] = 0;
motor[driveLF] = 0; motor[driveLF] = 0;
motor[driveRB] = 0; motor[driveRB] = 0;
motor[driveRF] = 0; motor[driveRF] = 0;
} }
void flipOn() { void flipOn() {
motor[bintake] = -MAX_SPEED; motor[bintake] = -MAX_SPEED;
@ -100,7 +100,7 @@ void joystickDrive() {
if(abs(vexRT[Ch2]) > DEADZONE) { if(abs(vexRT[Ch2]) > DEADZONE) {
motor[driveRB] = vexRT[Ch2]; motor[driveRB] = vexRT[Ch2];
motor[driveRF] = vexRT[Ch2]; motor[driveRF] = vexRT[Ch2];
} }
else { else {
motor[driveRB] = STOP; motor[driveRB] = STOP;
motor[driveRF] = STOP; motor[driveRF] = STOP;
@ -131,24 +131,24 @@ void pre_auton() {
bStopTasksBetweenModes = true; bStopTasksBetweenModes = true;
} }
void driveTiles(float numberOfTiles, bool direction) { void driveTiles(float numberOfTiles, bool direction) {
// when direction is true, move forward, otherwise go in reverse // when direction is true, move forward, otherwise go in reverse
clearEnc(); clearEnc();
while(direction == FORWARD && numberOfTiles * TILE - 200 > nMotorEncoder[driveRB]) { while(direction == FORWARD && numberOfTiles * TILE - 200 > nMotorEncoder[driveRB]) {
if(abs(nMotorEncoder[driveRB]) - 10 > nMotorEncoder[driveLB]) { if(abs(nMotorEncoder[driveRB]) - 10 > nMotorEncoder[driveLB]) {
motor[driveLB] = 100; motor[driveLB] = 100;
motor[driveLF] = 100; motor[driveLF] = 100;
motor[driveRB] = 90; motor[driveRB] = 90;
motor[driveRF] = 90; motor[driveRF] = 90;
} }
if(abs(nMotorEncoder[driveLB]) - 10 > nMotorEncoder[driveRB]) { if(abs(nMotorEncoder[driveLB]) - 10 > nMotorEncoder[driveRB]) {
motor[driveLB] = 90; motor[driveLB] = 90;
motor[driveLF] = 90; motor[driveLF] = 90;
motor[driveRB] = 100; motor[driveRB] = 100;
motor[driveRF] = 100; motor[driveRF] = 100;
} else { } else {
motor[driveLB] = 100; motor[driveLB] = 100;
motor[driveLF] = 100; motor[driveLF] = 100;
motor[driveRB] = 100; motor[driveRB] = 100;
motor[driveRF] = 100; motor[driveRF] = 100;
} }
@ -156,65 +156,68 @@ void driveTiles(float numberOfTiles, bool direction) {
while(direction == REVERSE && numberOfTiles * TILE - 200 > -nMotorEncoder[driveRB]) { while(direction == REVERSE && numberOfTiles * TILE - 200 > -nMotorEncoder[driveRB]) {
if(abs(nMotorEncoder[driveRB]) - 10 > nMotorEncoder[driveLB]) { if(abs(nMotorEncoder[driveRB]) - 10 > nMotorEncoder[driveLB]) {
motor[driveLB] = -100; motor[driveLB] = -100;
motor[driveLF] = -100; motor[driveLF] = -100;
motor[driveRB] = -90; motor[driveRB] = -90;
motor[driveRF] = -90; motor[driveRF] = -90;
} }
if(abs(nMotorEncoder[driveLB]) - 10 > nMotorEncoder[driveLB]) { if(abs(nMotorEncoder[driveLB]) - 10 > nMotorEncoder[driveLB]) {
motor[driveLB] = -90; motor[driveLB] = -90;
motor[driveLF] = -90; motor[driveLF] = -90;
motor[driveRB] = -100; motor[driveRB] = -100;
motor[driveRF] = -100; motor[driveRF] = -100;
} else { } else {
motor[driveLB] = -100; motor[driveLB] = -100;
motor[driveLF] = -100; motor[driveLF] = -100;
motor[driveRB] = -100; motor[driveRB] = -100;
motor[driveRF] = -100; motor[driveRF] = -100;
} }
} }
motor[driveLB] = 0; motor[driveLB] = 0;
motor[driveLF] = 0; motor[driveLF] = 0;
motor[driveRB] = 0; motor[driveRB] = 0;
motor[driveRF] = 0; motor[driveRF] = 0;
} }
task autonomous() { task autonomous() {
turntoRight(0.05); turntoRight(0.03);
shootBall(); shootBall();
turntoLeft(0.05); turntoLeft(0.03);
driveTiles(2, FORWARD); // Move 2 forward to hit bottom flag driveTiles(2, FORWARD); // Move 2 forward to hit bottom flag
driveTiles(1, REVERSE); driveTiles(1, REVERSE);
turntoRight(1); turntoRight(1);
driveTiles(0.5, REVERSE); // Drive 1/3 of a tile backwards to hit the wall and align ourselves! 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 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(); ballOff();
driveTiles(1.25, REVERSE); driveTiles(1.35, REVERSE);
turntoLeft(1); turntoLeft(1);
driveTiles(1, REVERSE); driveTiles(1, REVERSE);
turntoRight(1); turntoRight(1);
driveTiles(0.6, REVERSE); 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(); flipOn();
driveTiles(0.5, FORWARD); driveTiles(0.5, FORWARD);
driveTiles(0.1, FORWARD); ballIn();
ballIn(); // So we can pick up the ball! driveTiles(0.1, REVERSE);
// So we can pick up the ball!
wait(3); wait(3);
driveTiles(0.1, FORWARD); driveTiles(0.1, REVERSE);
turntoLeft(1); turntoLeft(1);
driveTiles(0.25, REVERSE); driveTiles(0.2, REVERSE);
wait(3); wait(3);
ballOff(); ballOff();
shootBall(); 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); //driveTiles(2, REVERSE);
wait(2);
turntoRight(1); turntoRight(1);
driveTiles(2.5, REVERSE); driveTiles(2.2, REVERSE);
turntoLeft(1); turntoLeft(1);
driveTiles(1, REVERSE); driveTiles(1, REVERSE);
turntoRight(1); turntoRight(1);
driveTiles(0.25, REVERSE); driveTiles(0.25, REVERSE);
driveTiles(3, FORWARD); driveTiles(3, FORWARD);
} }
task usercontrol() { // In user control mode task usercontrol() { // In user control mode
while (true) { while (true) {

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