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#pragma config(I2C_Usage, I2C1, i2cSensors)
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#pragma config(Sensor, I2C_1, , sensorQuadEncoderOnI2CPort, , AutoAssign )
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#pragma config(Sensor, I2C_2, , sensorQuadEncoderOnI2CPort, , AutoAssign )
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#pragma config(Motor, port1, , tmotorVex393_HBridge, openLoop)
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#pragma config(Motor, port2, shoot, tmotorVex393_MC29, openLoop, reversed)
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#pragma config(Motor, port3, driveLB, tmotorVex393_MC29, openLoop, reversed, encoderPort, I2C_2)
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#pragma config(Motor, port4, driveLF, tmotorVex393_MC29, openLoop, reversed)
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#pragma config(Motor, port5, driveRB, tmotorVex393_MC29, openLoop, reversed, encoderPort, I2C_1)
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#pragma config(Motor, port6, driveRF, tmotorVex393_MC29, openLoop)
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#pragma config(Motor, port7, bintake, tmotorVex393_MC29, openLoop, reversed)
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#pragma config(Motor, port8, , tmotorVex393_MC29, openLoop)
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#pragma config(Motor, port9, , tmotorVex393_MC29, openLoop)
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#pragma config(Motor, port10, , tmotorVex393_HBridge, openLoop)
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//*!!Code automatically generated by 'ROBOTC' configuration wizard !!*//
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#pragma platform(VEX2)
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#pragma competitionControl(Competition)
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#include "Vex_Competition_Includes.c"
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// Definitions here!
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#define MAX_SPEED 127
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// Set motor maximum speed, this allows for tweaking the speed of the robot with one change.
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#define MAX_AUTO_SPEED 100
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/* During the development of the autonomous portion of our code, we found that the robot
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would have issues turning and driving at MAX_SPEED causing it to turn too much, and
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not driving straight. After limiting the driving speed to 100, we found that the robot
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was able to drive more consistently.
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*/
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#define STOP 0
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// Defines the value for when a motor is stopped.
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#define DEADZONE 10
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/* Defines the deadzone of the VEX controller. With our controllers, a value of 10 allowed
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for the motors to completely lose power when the joystick is let go.
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*/
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#define DRIVE_OFFSET 10
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/* Defines the offset used to correct and curves while the robot is driving straight during the
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driveTiles(float numberOfTiles, bool direction) function.
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*/
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#define TILE 1206
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/* Definition for Rotation points per tile.
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Each tile is 23.4 inches wide.
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The exact radius of 4" omni wheels, using dial calipers: 2.075 inches
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2 * pi * r is circumference of the wheel - 13.0376 inches
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There are 627.2 points in a revolution with the vex direct motor encoders - according to robotc
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developers: “The 2-wire 393 motor measures 627.2 counts per revolution of the output shaft in its
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default high-torque configuration and 392 counts per revolution of the output shaft in its
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modified high-speed configuration.”
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So if we do 1 revolution * distance / radius we get 627.2 * 23.4 / 13.0376 = 1206.
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When the integrated motor encoder reports a movement of 1206, that means the robot has moved 1 tile.
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*/
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// How much the wheels should spin in a 90 degree turn
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#define POINTS_PER_TURN 320
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/* Using trial and error, we found that our robot will make a 90 degree turn when the integrated motor
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encoders report a distance of 320 while spinning in place.
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*/
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// definitions for driveTiles()
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#define FORWARD true
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#define REVERSE false
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/* When the function driveTiles(float numberOfTiles, bool direction) is called, one of the explicit
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parameters is a boolean for direction, where true is forward, and false is reverse. Using these
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definitions in our code, it is clearer to us and readers as to what that parameter is for.
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*/
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void stopDriving() {
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motor[driveLB] = STOP;
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motor[driveLF] = STOP;
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motor[driveRB] = STOP;
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motor[driveRF] = STOP;
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}
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// Explicit Parameters: None
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// Output: All four driving motors will be stopped, stopping the robot’s movements immediately.
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void clearEnc() { // Reset driving motor encoder values to 0
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nMotorEncoder[driveRB] = 0;
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nMotorEncoder[driveLB] = 0;
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}
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// Explicit Parameters: None
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// Output: Resets the driving encoders to 0, for use in other autonomous functions.
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void shootBall() {
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motor[shoot] = MAX_SPEED;
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wait(1.25); // Shooting takes 1.25 seconds
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motor[shoot] = STOP;
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}
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// Explicit Parameters: None
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// Output: The 2 motors connected to the shoot port will turn on for 1.25 seconds, which is
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// precisely the amount of time needed for the motors to pull back and release the launcher.
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void turntoRight(float turns) {
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clearEnc();
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while(turns * POINTS_PER_TURN > nMotorEncoder[driveLB]){
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motor[driveLB] = MAX_AUTO_SPEED;
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motor[driveLF] = MAX_AUTO_SPEED;
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motor[driveRB] = -MAX_AUTO_SPEED;
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motor[driveRF] = -MAX_AUTO_SPEED;
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}
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stopDriving();
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}
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// Explicit Parameters: None
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// Output: These three functions manage the ball lift and, conveniently, the same motors in reverse
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// will flip a cap. flipOn() will spin the motors in the direction needed to flip caps, ballIn()
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// will spin the motors in the direction needed to collect and pick up balls, and ballOff() will turn off the motors.
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void turntoLeft(float turns) {
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clearEnc();
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while(turns * POINTS_PER_TURN > nMotorEncoder[driveRB]){
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motor[driveLB] = -MAX_AUTO_SPEED;
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motor[driveLF] = -MAX_AUTO_SPEED;
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motor[driveRB] = MAX_AUTO_SPEED;
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motor[driveRF] = MAX_AUTO_SPEED;
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}
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stopDriving();
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}
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void flipOn() {
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motor[bintake] = -MAX_SPEED;
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}
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void ballOff() {
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motor[bintake] = STOP;
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}
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void ballIn() {
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motor[bintake] = MAX_SPEED;
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}
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void joystickDrive() {
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if(abs(vexRT[Ch3]) > DEADZONE) {
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motor[driveLB] = vexRT[Ch3];
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motor[driveLF] = vexRT[Ch3];
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}
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else {
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motor[driveLB] = STOP;
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motor[driveLF] = STOP;
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}
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if(abs(vexRT[Ch2]) > DEADZONE) {
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motor[driveRB] = vexRT[Ch2];
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motor[driveRF] = vexRT[Ch2];
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}
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else {
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motor[driveRB] = STOP;
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motor[driveRF] = STOP;
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}
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}
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void buttonChecks() {
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if (vexRT[Btn5U] == 1) {
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ballIn();
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}
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else if (vexRT[Btn5D] == 1) {
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flipOn();
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}
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else {
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ballOff();
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}
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if (vexRT[Btn8D] == 1) {
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shootBall();
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} // No need for reverse on the ball launcher!
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}
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void pre_auton() {
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/* Set bStopTasksBetweenModes to false if you want to keep user created tasks
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running between Autonomous and Driver controlled modes. You will need to
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manage all user created tasks if set to false. */
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bStopTasksBetweenModes = true;
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}
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void driveTiles(float numberOfTiles, bool direction) {
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// when direction is true, move forward, otherwise go in reverse
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clearEnc();
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while(direction == FORWARD && numberOfTiles * TILE - 200 > nMotorEncoder[driveRB]) {
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if(abs(nMotorEncoder[driveRB]) - DRIVE_OFFSET > nMotorEncoder[driveLB]) {
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motor[driveLB] = MAX_AUTO_SPEED;
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motor[driveLF] = MAX_AUTO_SPEED;
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motor[driveRB] = MAX_AUTO_SPEED - DRIVE_OFFSET;
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motor[driveRF] = MAX_AUTO_SPEED - DRIVE_OFFSET;
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}
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if(abs(nMotorEncoder[driveLB]) - DRIVE_OFFSET > nMotorEncoder[driveRB]) {
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motor[driveLB] = MAX_AUTO_SPEED - DRIVE_OFFSET;
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motor[driveLF] = MAX_AUTO_SPEED - DRIVE_OFFSET;
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motor[driveRB] = MAX_AUTO_SPEED;
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motor[driveRF] = MAX_AUTO_SPEED;
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} else {
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motor[driveLB] = MAX_AUTO_SPEED;
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motor[driveLF] = MAX_AUTO_SPEED;
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motor[driveRB] = MAX_AUTO_SPEED;
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motor[driveRF] = MAX_AUTO_SPEED;
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}
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}
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while(direction == REVERSE && numberOfTiles * TILE - 200 > -nMotorEncoder[driveRB]) {
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if(abs(nMotorEncoder[driveRB]) - DRIVE_OFFSET > nMotorEncoder[driveLB]) {
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motor[driveLB] = -MAX_AUTO_SPEED;
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motor[driveLF] = -MAX_AUTO_SPEED;
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motor[driveRB] = -MAX_AUTO_SPEED + DRIVE_OFFSET;
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motor[driveRF] = -MAX_AUTO_SPEED + DRIVE_OFFSET;
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}
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if(abs(nMotorEncoder[driveLB]) - DRIVE_OFFSET > nMotorEncoder[driveLB]) {
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motor[driveLB] = -MAX_AUTO_SPEED + DRIVE_OFFSET;
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motor[driveLF] = -MAX_AUTO_SPEED + DRIVE_OFFSET;
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motor[driveRB] = -MAX_AUTO_SPEED;
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motor[driveRF] = -MAX_AUTO_SPEED;
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} else {
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motor[driveLB] = -MAX_AUTO_SPEED;
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motor[driveLF] = -MAX_AUTO_SPEED;
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motor[driveRB] = -MAX_AUTO_SPEED;
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motor[driveRF] = -MAX_AUTO_SPEED;
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}
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}
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stopDriving();
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}
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task autonomous() {
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turntoRight(0.03);
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shootBall();
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turntoLeft(0.03);
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driveTiles(2, FORWARD); // Move 2 forward to hit bottom flag
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driveTiles(1, REVERSE);
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turntoRight(1);
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driveTiles(0.5, REVERSE); // Drive 1/3 of a tile backwards to hit the wall and align ourselves!
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flipOn(); // Turn on the ball intake in reverse, which is what we can use to flip the caps
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driveTiles(1.6, FORWARD); // flip cap
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ballOff();
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driveTiles(1.35, REVERSE);
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turntoLeft(1);
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driveTiles(1, REVERSE);
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turntoRight(1);
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driveTiles(0.6, REVERSE);
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driveTiles(2.1, FORWARD); // Flip the other cap without turning on the spinner
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flipOn();
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driveTiles(0.5, FORWARD);
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ballIn();
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driveTiles(0.1, REVERSE);
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// So we can pick up the ball!
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wait(3);
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driveTiles(0.1, REVERSE);
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turntoLeft(1);
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driveTiles(0.2, REVERSE);
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wait(3);
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ballOff();
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shootBall();
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driveTiles(0.05, REVERSE);
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driveTiles(0.33, FORWARD);
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wait(2);
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turntoRight(1);
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driveTiles(2.2, REVERSE);
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turntoLeft(1);
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driveTiles(1, REVERSE);
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turntoRight(1);
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driveTiles(0.25, REVERSE);
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driveTiles(3, FORWARD);
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}
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task usercontrol() { // In user control mode
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while (true) {
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joystickDrive(); // Joystick mapping function
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buttonChecks(); // Button mapping, for lift, ball launcher, etc.
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}
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} |