Added arm safety check

Labs.c

@@ -45,6 +45,41 @@ void setMotors(int leftSpeed, int rightSpeed) {
 	motor[rightMotor] = rightSpeed;
 }
 
+//==================================================================================//
+
+/* Arm safety checker, verifies potentiometer position and limit switch status
+ *   of the arm to disable the motors automatically.
+ *
+ * Arguments:
+ * - direction: single character
+ *   - "U" | "D": Up or Down respectively
+ *   - Determines which direction the arm wants to move, otherwise the arm would always
+ *     be stuck in a limit position.
+ *
+ * Returns:
+ * - integer: Status, 0 means arm is in a blocked position, 1 means the arm can move
+ *
+ * Notes:
+ * None.
+*/
+int checkArm(char *direction) {
+  if (direction == "U") { // The arm wants to go up
+  	// So we check the potentiometer
+	if (SensorValue[armPos] < 1800) { // 1800 limit / 2300 max
+		return 1; // The arm can move up more
+	} else {
+		return 0; // The arm is at the upper limit, do not move it up more
+	}
+  } else if (direction == "D") { // The arm wants to go down
+	// So we check the limit switch
+	if (SensorValue[armLimit] == 1) { // The limit switch isn't being pressed
+		return 1; // The arm can move down more
+	} else { // The switch is being pressed down
+		return 0; // The arm cannot be moved down more
+	}
+  }
+}
+
 /* Quickly set the arm motor speed
  *
  * Arguments:
@@ -55,8 +90,24 @@ void setMotors(int leftSpeed, int rightSpeed) {
  * This is a very superfluous function but I hate typing motor[motorName] = 127 constantly
 */
 void setArm(int speed) {
-	// Set the arm motor speed
+	// Check the arm safety
-	motor[armMotor] = speed;
+	int safe = 0;
+	if (speed > 0) {
+		safe = checkArm("U");
+	} else if (speed < 0) {
+		safe = checkArm("D");
+	} else {
+		safe = 0;
+	}
+
+	if (safe == 1) {
+		// Set the arm motor speed
+		motor[armMotor] = speed;
+	} else {
+		// Turn off the motor
+		motor[armMotor] = 0;
+	}
+
 }
 
 /* Quickly set the claw motor speed
@@ -219,6 +270,27 @@ void moveArm(int speed, int timeMs) {
 	motor[armMotor] = 0;
 }
 
+//==================================================================================//
+
+/* Move the bot's claw motor
+ *
+ * Arguments:
+ * - speed: signed integer. -127 to 127
+ *   - <0: Down
+ *   - >0: Up
+ *   - Speed to drive the claw motor
+ * - timeMs: signed integer
+ *   - Time to wait before stopping the claw, in milliseconds
+*/
+void moveClaw(int speed, int timeMs) {
+	// Turn on the motor at the set speed
+	motor[clawMotor] = speed;
+	// Wait for the set time
+	wait1Msec(timeMs);
+	// Turn the motor off
+	motor[clawMotor] = 0;
+}
+
 /* Put your arms in the air like you just don't care
  * Moves the bot's arm up until it reaches a preset position,
  * determined by a potentiometer
@@ -308,104 +380,86 @@ void clawRelease() {
  *
  * Arguments: None
  * Notes: TODO: Find a way to recall main() so this can be rerun without rebooting/recompiling
+ *
+ * Lab Description:
+ * Have arm motor
+ * - Run autonomous with start button
+ * - Arm up 1000ms
+ * - Arm down 1000ms
+ * - Claw release 1000ms
+ * - Claw grab 1000ms
+ * - Repeat @50% speed
 */
 void runAutonomous() {
-	// Drive Left Side
+	moveArm(127, 1000);
-	// driveOneSide("L", 127, 1000);
+	moveArm(-127, 1000);
-	// Drive Right Side
+	moveClaw(127, 1000);
-	// driveOneSide("R", 127, 1000);
+	moveClaw(-127, 1000);
-	// Reverse Left Side
+	moveArm(64, 1000);
-	// driveOneSide("L", -127, 1000);
+	moveArm(-64, 1000);
-	// Reverse Right Side
+	moveClaw(64, 1000);
-	// driveOneSide("R", -127, 1000);
+	moveClaw(-64, 1000);
-	// Drive forward 3 seconds
-	// driveForward(127, 3000);
-	// Drive backwards 3 seconds
-	// driveBackward(127, 3000);
-	// Left forward, right reverse
-	// turn("R", 127, 1000, true);
-	// Half-speed forward
-	// driveForward(64, 3000);
-	// Quarter-speed forward
-	// driveForward(32, 3000);
-	// Raise the arm up a bit
-	// armUp(127, 500);
-	// Drop the arm all the way down
-	// armDown100(16);
-	clawRelease();
-	clawGrab();
-	armUp100(32);
-	clawRelease();
-	clawGrab();
-	armDown100(32);
 }
 
-//==================================================================================//
-
-/* Wait for the start button to be pressed, then run autonomous code.
- *
- * Arguments: None
-*/
-void waitForStart() {
-
-	// TODO: Experimental, hoping this will call this function again when done instead of exiting
-	waitForStart();
-}
 
 //==================================================================================//
 
 // This function gets called automatically once the bot is booted.
 task main() {
-	while (SensorValue[buttonStart]==1) {
+	// Loop over this code infinitely, this will allow running the autocode more than once
-		// Driver Mode, Controller Inputs
+	while (1) {
-		int leftSpeed = (vexRT[Ch2] + vexRT[Ch1]) / 2; // (y + x) / 2
+		// As long as the start button isn't pressed (Logical 1) run the code for the controller input
-		int rightSpeed = (vexRT[Ch2] - vexRT[Ch1])/2;  // (y - x) / 2
+		while (SensorValue[buttonStart]==1) {
-		float leftAdjSpeed = leftSpeed / 10;
+			// Driver Mode, Controller Inputs
-		float rightAdjSpeed = rightSpeed / 10;
+			int leftSpeed = (vexRT[Ch2] + vexRT[Ch1]) / 2; // (y + x) / 2
-		leftAdjSpeed = floor(leftAdjSpeed) * 10;
+			int rightSpeed = (vexRT[Ch2] - vexRT[Ch1])/2;  // (y - x) / 2
-		rightAdjSpeed = floor(rightAdjSpeed) * 10;
+			float leftAdjSpeed = leftSpeed / 10;
+			float rightAdjSpeed = rightSpeed / 10;
+			leftAdjSpeed = floor(leftAdjSpeed) * 10;
+			rightAdjSpeed = floor(rightAdjSpeed) * 10;
 
-		if (fabs(leftAdjSpeed) > 30) {
+			if (fabs(leftAdjSpeed) > 30) {
-			motor[leftMotor]  = leftAdjSpeed;
+				motor[leftMotor]  = leftAdjSpeed;
-		} else {
+			} else {
-			motor[leftMotor] = 0;
+				motor[leftMotor] = 0;
+			}
+
+			if (fabs(rightAdjSpeed) > 30) {
+				motor[rightMotor] = rightAdjSpeed;
+			} else {
+				motor[rightMotor] = 0;
+			}
+
+			// Raise, lower or do not move arm
+			if(vexRT[Btn7U] == 1)       	//If button 7U is pressed...
+			{
+				motor[armMotor] = 32;    	//...raise the arm.
+			}
+			else if(vexRT[Btn7D] == 1)  	//Else, if button 7D is pressed...
+			{
+				motor[armMotor] = -32;   	//...lower the arm.
+			}
+			else                      		//Else (neither button is pressed)...
+			{
+				motor[armMotor] = 0;      	//...stop the arm.
+			}
+
+			// Open, close or do not more claw
+			if(vexRT[Btn7L] == 1)       	//If Button 7L is pressed...
+			{
+				motor[clawMotor] = 64;  		//...open the gripper.
+			}
+			else if(vexRT[Btn7R] == 1)  	//Else, if button 7R is pressed...
+			{
+				motor[clawMotor] = -32; 		//...close the gripper.
+			}
+			else                      		//Else (neither button is pressed)...
+			{
+				motor[clawMotor] = 0;    		//...stop the gripper.
+			}
 		}
 
-		if (fabs(rightAdjSpeed) > 30) {
+		// Once we've detected a button press, run the autonomous function block.
-			motor[rightMotor] = rightAdjSpeed;
+		runAutonomous();
-		} else {
-			motor[rightMotor] = 0;
-		}
-
-		// Raise, lower or do not move arm
-		if(vexRT[Btn7U] == 1)       	//If button 5U is pressed...
-		{
-			motor[armMotor] = 32;    	//...raise the arm.
-		}
-		else if(vexRT[Btn7D] == 1)  	//Else, if button 5D is pressed...
-		{
-			motor[armMotor] = -32;   	//...lower the arm.
-		}
-		else                      		//Else (neither button is pressed)...
-		{
-			motor[armMotor] = 0;      	//...stop the arm.
-		}
-
-		// Open, close or do not more claw
-		if(vexRT[Btn7L] == 1)       	//If Button 6U is pressed...
-		{
-			motor[clawMotor] = 64;  		//...close the gripper.
-		}
-		else if(vexRT[Btn7R] == 1)  	//Else, if button 6D is pressed...
-		{
-			motor[clawMotor] = -32; 		//...open the gripper.
-		}
-		else                      		//Else (neither button is pressed)...
-		{
-			motor[clawMotor] = 0;    		//...stop the gripper.
-		}
 	}
-
-	// Once we've detected a button press, run the autonomous function block.
-	runAutonomous();
 }