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mobilerobotics
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Cole Deck 6 years ago
parent af343a8074
commit db09576032
1 changed files with 84 additions and 26 deletions
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110
main.c
Unescape Escape View File

@ -38,7 +38,7 @@
*/
#define DRIVE_OFFSET 10
/* Defines the offset used to correct and 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.
*/
@ -119,11 +119,10 @@ 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.
// 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
// 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.
void turntoLeft(float turns) {
clearEnc();
@ -135,6 +134,11 @@ void turntoLeft(float turns) {
}
stopDriving();
}
// 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
// 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.
void flipOn() {
@ -146,6 +150,11 @@ void ballOff() {
void ballIn() {
motor[bintake] = MAX_SPEED;
}
// 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 joystickDrive() {
if(abs(vexRT[Ch3]) > DEADZONE) {
@ -165,6 +174,12 @@ void joystickDrive() {
motor[driveRF] = STOP;
}
}
// Explicit Parameters: None
// 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
// 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.
void buttonChecks() {
if (vexRT[Btn5U] == 1) {
@ -180,7 +195,9 @@ void buttonChecks() {
shootBall();
} // No need for reverse on the ball launcher!
}
// Explicit Parameters: None
// 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.
void pre_auton() {
@ -189,6 +206,7 @@ void pre_auton() {
manage all user created tasks if set to false. */
bStopTasksBetweenModes = true;
}
// Auto-generated ROBOTC autonomous function
void driveTiles(float numberOfTiles, bool direction) {
// when direction is true, move forward, otherwise go in reverse
@ -233,13 +251,20 @@ void driveTiles(float numberOfTiles, bool direction) {
}
stopDriving();
}
// 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.
// 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.
// 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
// 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.
task autonomous() {
turntoRight(0.03);
shootBall();
turntoLeft(0.03);
driveTiles(2, FORWARD); // Move 2 forward to hit bottom flag
turntoRight(0.03);
shootBall();
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!
@ -252,11 +277,10 @@ task autonomous() {
turntoRight(1);
driveTiles(0.6, REVERSE);
driveTiles(2.1, FORWARD); // Flip the other cap without turning on the spinner
flipOn();
flipOn(); // So we can pick up the ball that's under it!
driveTiles(0.5, FORWARD);
ballIn();
driveTiles(0.1, REVERSE);
// So we can pick up the ball!
wait(3);
driveTiles(0.1, REVERSE);
turntoLeft(1);
@ -267,18 +291,52 @@ task autonomous() {
driveTiles(0.05, REVERSE);
driveTiles(0.33, FORWARD);
wait(2);
turntoRight(1);
driveTiles(2.2, REVERSE);
turntoLeft(1);
driveTiles(1, REVERSE);
turntoRight(1);
driveTiles(0.25, REVERSE);
driveTiles(3, FORWARD);
turntoRight(1);
driveTiles(2.2, REVERSE);
turntoLeft(1);
driveTiles(1, REVERSE);
turntoRight(1);
driveTiles(0.25, REVERSE);
driveTiles(3, FORWARD);
}
task usercontrol() { // In user control mode
/*
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.
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.
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.
6. Back up, turn left, reverse 1 tile, turn right, back into the wall again to align ourselves.
7. Drive forward, push the cap off of the ball, turn of the flipper and flip the cap.
8. Run the motors to lift the ball up to the ball launcher. We wait a few seconds for the ball.
9. Turn to the left, wait a bit more, and shoot the top flag in the middle column of flags.
10. Turn right, back up to the starting tile, then turn left.
11. Reverse for 1 tile to be perpendicular with the platforms.
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.
*/
task usercontrol() {
while (true) {
joystickDrive(); // Joystick mapping function
buttonChecks(); // Button mapping, for lift, ball launcher, etc.
joystickDrive();
buttonChecks();
}
}
}
// 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
// functions, joystickDrive() and buttonChecks().

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