Update 'main.c'

main.c

@@ -17,47 +17,98 @@
 #pragma competitionControl(Competition)
 #include "Vex_Competition_Includes.c"
 
-// some variable definitions
+// Definitions here!
-#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 MAX_SPEED 127
-#define STOP 0
+// Set motor maximum speed, this allows for tweaking the speed of the robot with one change.
-#define DEADZONE 10
+
-#define DRIVE_OFFSET 10
+#define MAX_AUTO_SPEED 100
-/*
+/* During the development of the autonomous portion of our code, we found that the robot 
-  23.4 / (2 * pi * 2.075) * 672.2
+   would have issues turning and driving at MAX_SPEED causing it to turn too much, and 
-  23.4 = inches in a tile
+   not driving straight. After limiting the driving speed to 100, we found that the robot 
-  2.075 = exact radius of 4" omniwheels
+   was able to drive more consistently. 
-  2 * pi * r is circumference of the wheel
-  627.2 points in a revolution with the vex encoders
-  final calculation is the amount of points of rotation per tile of movement
 */
+
+#define STOP 0
+// Defines the value for when a motor is stopped.
+  
+#define DEADZONE 10
+/* 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. 
+*/  
+
+#define DRIVE_OFFSET 10
+/* Defines the offset used to correct and curves while the robot is driving straight during the 
+   driveTiles(float numberOfTiles, bool direction) function.
+*/
+
 #define TILE 1206
+/* Definition for Rotation points per tile. 
+
+   Each tile is 23.4 inches wide.
+
+
+   The exact radius of 4" omni wheels, using dial calipers: 2.075 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 
+   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 
+   modified high-speed configuration.”
+
+
+   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. 
+*/
+
 
 // How much the wheels should spin in a 90 degree turn
 #define POINTS_PER_TURN 320
+/* 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.
+*/
+
 
 // definitions for driveTiles()
 #define FORWARD true
 #define REVERSE false
+/* 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 
+   definitions in our code, it is clearer to us and readers as to what that parameter is for. 
+*/
 
-void stopDriving() { // Stop all driving motors
+void stopDriving() {
   motor[driveLB] = STOP;
   motor[driveLF] = STOP;
   motor[driveRB] = STOP;
   motor[driveRF] = STOP;
 }
+// Explicit Parameters: None
+// Output: All four driving motors will be stopped, stopping the robot’s movements immediately. 
+
+
 
 void clearEnc() { // Reset driving motor encoder values to 0
     nMotorEncoder[driveRB] = 0;
     nMotorEncoder[driveLB] = 0;
 }
+// Explicit Parameters: None
+// Output: Resets the driving encoders to 0, for use in other autonomous functions.
+
+
 
 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;
 }
+// Explicit Parameters: None
+// 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. 
+
+
 void turntoRight(float turns) {
 	clearEnc();
   while(turns * POINTS_PER_TURN > nMotorEncoder[driveLB]){
@@ -68,6 +119,12 @@ void turntoRight(float turns) {
   }
   stopDriving();
 }
+// Explicit Parameters: None
+// 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 motors in the direction needed to collect and pick up balls, and ballOff() will turn off the motors. 
+
+
 void turntoLeft(float turns) {
   clearEnc();
 	while(turns * POINTS_PER_TURN > nMotorEncoder[driveRB]){