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6587d5a8ea
309
Labs.c
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309
Labs.c
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/* Progressive Development Code
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* for ETC 244 VeX Robotics Lab
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* Instructor: Bill Dolan
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* Fall 2023-2024
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*
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* Developed by Skylar Grant
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*/
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// Configuration created by ROBOTC
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#pragma config(Sensor, in3, armPos, sensorPotentiometer)
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#pragma config(Sensor, in4, lightRight, sensorReflection)
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#pragma config(Sensor, in5, lightLeft, sensorReflection)
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#pragma config(Sensor, in6, lineLeft, sensorLineFollower)
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#pragma config(Sensor, in7, lineCenter, sensorLineFollower)
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#pragma config(Sensor, in8, lineRight, sensorLineFollower)
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#pragma config(Sensor, dgtl1, leftRotary1, sensorQuadEncoder)
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#pragma config(Sensor, dgtl3, rightRotary1, sensorQuadEncoder)
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#pragma config(Sensor, dgtl5, frontBumper, sensorDigitalIn)
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#pragma config(Sensor, dgtl6, rearBumper, sensorDigitalIn)
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#pragma config(Sensor, dgtl7, startBumper, sensorDigitalIn)
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#pragma config(Sensor, dgtl8, sonarIn, sensorSONAR_inch)
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#pragma config(Sensor, dgtl10, armLimit, sensorDigitalIn)
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#pragma config(Motor, port1, rightMotor, tmotorVex393_HBridge, openLoop, reversed, driveRight, encoderPort, dgtl3)
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#pragma config(Motor, port3, clawMotor, tmotorVex393HighSpeed_MC29, openLoop)
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#pragma config(Motor, port4, armMotor, tmotorVex393_MC29, openLoop)
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#pragma config(Motor, port10, leftMotor, tmotorVex393_HBridge, openLoop, reversed, driveLeft, encoderPort, dgtl1)
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//*!!Code automatically generated by 'ROBOTC' configuration wizard !!*//
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/* Quick function to set the speed of the drive motors
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*
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* Arguments:
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* - leftSpeed: signed integer, -127 to 127
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* - Speed to drive the left-side motor
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* - rightSpeed: signed integer, -127 to 127
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* - Speed to drive the right-side motor
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*/
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void setMotors(int leftSpeed, int rightSpeed) {
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// Turn on the left motor at the given speed
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motor[leftMotor] = leftSpeed;
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// Turn on the right motor at the given speed
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motor[rightMotor] = rightSpeed;
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}
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/* Quick function to stop both drive motors
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*
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* Arguments: None
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*/
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void stop() {
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// Turn off the left motor
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motor[leftMotor] = 0;
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// Turn off the right motor
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motor[rightMotor] = 0;
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}
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/* Function to drive the bot forward for some time
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*
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* Arguments:
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* - speed: signed integer, 0 to 127.
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* - Speed to drive the motors
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* - timeMs: signed integer
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* - Amount of time to wait before stopping, in milliseconds
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*/
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void driveForward(int speed, int timeMs) {
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// Turn on the left and right motors at speed
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setMotors(speed, speed); // setMotors(leftSpeed, rightSpeed)
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// Wait for the set time
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wait1Msec(timeMs);
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// Turn the motors off
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stop();
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}
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/* Function to drive the bot backwards for some time
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*
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* Arguments:
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* - speed: signed integer, 0 to 127.
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* - Speed to drive the motors, inversion is handled internally
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* - timeMs: signed integer
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* - Amount of time to wait before stopping, in milliseconds
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*/
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void driveBackward(int speed, int timeMs) {
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// Invert the speed
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int revSpeed = speed * -1;
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// Turn on the left and right motors at the reverse speed
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setMotors(revSpeed, revSpeed); // setMotors(leftSpeed, rightSpeed)
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// Wait for the set time
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wait1Msec(timeMs);
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// Turn the motors off
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stop();
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}
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// TODO: Just combine this into one drive function with L/R/B and a reverse boolean
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/* Function to drive only one side's drive motors for a given time
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*
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* Arguments:
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* - side: 1 character string, "L" | "R"
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* - Which side's motors to drive
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* - speed: signed integer, 0 to 127.
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* - Speed to drive the motors
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* - timeMs: signed integer
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* - Amount of time to wait before stopping, in milliseconds
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*/
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void driveOneSide(char *side, int speed, int timeMs) {
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// Check the direction and apply the motor speeds as required
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if (strcmp(side, "L") == 0) { // Drive Left Side
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setMotors(speed, 0);
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} else if (strcmp(side, "R") == 0) { // Drive Right Side
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setMotors(0, speed); // setMotors(leftSpeed, rightSpeed)
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}
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// Wait for the specified amount of time
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wait1Msec(timeMs);
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// Turn off the motors
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stop();
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}
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// TODO: Flesh out this function
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//void drive(char *side, int speed, int timeMs, int reverse)
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/* Turn the robot
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*
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* Arguments:
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* - direction: One character string, "L" | "R"
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* - Which direction to turn
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* - speed: signed integer 0 to 127
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* - Speed to drive the motors at. Inversion is handled internally if needed
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* - timeMs: signed integer
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* - Milliseconds to wait before stopping the turn
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* - reverse: boolean
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* - Whether or not to reverse the turning-side motors to pivot-in-place
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*/
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void turn(char *direction, int speed, int timeMs, bool reverse) {
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// Turn left by reversing the left drive motors and going forward
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// with the right drive motors
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// Turn right by going forward with the left drive motors
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// and reversing the right drive motors
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// Default to not reversing the turning-side motors
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int revSpeed = 0;
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// If reverse is true, reverse the turning-side motors
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if (reverse == true) {
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// Get the inverse of the speed for pivot-in-place
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revSpeed = speed * -1;
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}
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// Check the direction and apply the motor speeds as required
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if (strcmp(direction, "L") == 0) { // Turn Left
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setMotors(revSpeed, speed); // setMotors(leftSpeed, rightSpeed)
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} else if (strcmp(direction, "R") == 0) { // Turn Right
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setMotors(speed, revSpeed); // setMotors(leftSpeed, rightSpeed)
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} else {
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wait1Msec(100);
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}
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// Wait for the specified amount of time
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wait1Msec(timeMs);
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// Turn off the motors
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stop();
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}
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/* Move the bot's arm up or down
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*
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* Arguments:
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* - speed: signed integer. -127 to 127
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* - <0: Down
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* - >0: Up
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* - Speed to drive the arm motor
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* - timeMs: signed integer
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* - Time to wait before stopping the arm, in milliseconds
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*/
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void moveArm(int speed, int timeMs) {
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// Turn on the motor at the set speed
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motor[armMotor] = speed;
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// Wait for the set time
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wait1Msec(timeMs);
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// Turn the motor off
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motor[armMotor] = 0;
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}
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/* Put your arms in the air like you just don't care
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* Moves the bot's arm up until it reaches a preset position,
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* determined by a potentiometer
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*
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* Arguments:
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* - speed: signed integer. 0 to 127
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* - Speed to drive the arm motor
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*
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* Logic:
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* - Arm Position Potentiometer:
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* - Claw Vertical: 1600
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* - Claw Soft Limit: 1800
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* - Claw Hard Limit: 2100
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*/
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void armUp100(int speed) {
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// Check that the arm potentiometer is showing a value below 1800
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while (SensorValue[armPos] <= 1800) {
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// Set the motor to the desired speed
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motor[armMotor] = speed;
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}
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// Once the arm position is showing > 1800, shut off the arm
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motor[armMotor] = 0;
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}
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/* Moves the robot's arm down until the limit switch is pressed
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*
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* Arguments:
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* - speed: signed integer. 0 to 127
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* - Speed to drive the arm motor
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*
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* Logic:
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* - Arm Limit Switch:
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* - Momentary switch, normally closed.
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* - When arm is not making contact, shows a logical 1
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*/
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void armDown100(int speed) {
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// While the arm limit switch isn't being contacted
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while (SensorValue[armLimit] == 1) {
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// Invert the given speed to make the motor go down
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int revSpeed = speed * -1;
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// Turn on the motor at the set speed
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motor[armMotor] = revSpeed;
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}
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// Once the limit switch is being contacted (logical 0), stop the arm motor
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motor[armMotor] = 0;
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}
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/* Close the claw
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*
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* Arguments: None
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* Notes: TODO: This should have some variability, and ideally
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* would have a way to detect resistance against the claw
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*/
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void clawGrab() {
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// Turn on the motor at the half speed
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motor[clawMotor] = -32;
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// Wait for the set time
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wait1Msec(1000);
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// Turn the motor off
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motor[clawMotor] = 0;
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}
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/* Open the claw
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*
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* Arguments: None
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* Notes: TODO: This should have some variability, and ideally
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* would have a way to detect the claw being open 100%
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*/
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void clawRelease() {
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// Turn on the motor at the half speed
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motor[clawMotor] = 32;
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// Wait for the set time
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wait1Msec(1000);
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// Turn the motor off
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motor[clawMotor] = 0;
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}
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/* Run the autonomous code, called when the start button is pressed.
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*
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* Arguments: None
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* Notes: TODO: Find a way to recall main() so this can be rerun without rebooting/recompiling
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*/
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void runAutonomous() {
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// Drive Left Side
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// driveOneSide("L", 127, 1000);
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// Drive Right Side
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// driveOneSide("R", 127, 1000);
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// Reverse Left Side
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// driveOneSide("L", -127, 1000);
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// Reverse Right Side
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// driveOneSide("R", -127, 1000);
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// Drive forward 3 seconds
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// driveForward(127, 3000);
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// Drive backwards 3 seconds
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// driveBackward(127, 3000);
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// Left forward, right reverse
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// turn("R", 127, 1000, true);
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// Half-speed forward
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// driveForward(64, 3000);
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// Quarter-speed forward
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// driveForward(32, 3000);
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// Raise the arm up a bit
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// armUp(127, 500);
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// Drop the arm all the way down
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// armDown100(16);
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clawRelease();
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clawGrab();
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armUp100(32);
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clawRelease();
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clawGrab();
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armDown100(16);
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}
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/* Wait for the start button to be pressed, then run autonomous code.
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*
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* Arguments: None
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*/
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void waitForStart() {
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while (SensorValue[startBumper]==1) {
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wait1Msec(500);
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}
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// Once we've detected a button press, run the autonomous function block.
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runAutonomous();
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// TODO: Experimental, hoping this will call this function again when done instead of exiting
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waitForStart();
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}
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// This function gets called automatically once the bot is booted.
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task main() {
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waitForStart();
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}
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