basic joystick controls
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@ -0,0 +1,32 @@
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{
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// Place your etc244 workspace snippets here. Each snippet is defined under a snippet name and has a scope, prefix, body and
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// description. Add comma separated ids of the languages where the snippet is applicable in the scope field. If scope
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// is left empty or omitted, the snippet gets applied to all languages. The prefix is what is
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// used to trigger the snippet and the body will be expanded and inserted. Possible variables are:
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// $1, $2 for tab stops, $0 for the final cursor position, and ${1:label}, ${2:another} for placeholders.
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// Placeholders with the same ids are connected.
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// Example:
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// "Print to console": {
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// "scope": "javascript,typescript",
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// "prefix": "log",
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// "body": [
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// "console.log('$1');",
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// "$2"
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// ],
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// "description": "Log output to console"
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// }
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"Function Descriptor": {
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"scope": "c",
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"prefix": "//",
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"body": [
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"/* $1",
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" *",
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" * Arguments:",
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" * $2",
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" *",
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" * Notes:",
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" * $3",
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"*/$0"
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]
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}
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}
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150
Labs.c
150
Labs.c
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@ -1,23 +1,20 @@
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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, in1, armPos, sensorPotentiometer)
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#pragma config(Sensor, in2, lightR, sensorReflection)
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#pragma config(Sensor, in3, lightL, sensorReflection)
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#pragma config(Sensor, dgtl3, buttonStart, sensorDigitalIn)
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#pragma config(Sensor, dgtl4, armLimit, sensorDigitalIn)
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#pragma config(Sensor, dgtl5, buttonL, sensorDigitalIn)
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#pragma config(Sensor, dgtl6, rotaryR1, sensorQuadEncoder)
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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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#pragma config(Sensor, dgtl10, rotaryL1, sensorQuadEncoder)
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#pragma config(Sensor, dgtl12, buttonR, sensorDigitalIn)
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#pragma config(Motor, port1, leftMotor, tmotorVex393_HBridge, openLoop, reversed, driveLeft)
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#pragma config(Motor, port2, clawMotor, tmotorVex393_MC29, openLoop)
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#pragma config(Motor, port3, armMotor, tmotorVex393_MC29, openLoop)
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#pragma config(Motor, port10, rightMotor, tmotorVex393_HBridge, openLoop, reversed, driveRight)
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//*!!Code automatically generated by 'ROBOTC' configuration wizard !!*//
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//=====================================================================//
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//==================================================================================//
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/* Progressive Development Code
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* for ETC 244 VeX Robotics Lab
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@ -25,13 +22,13 @@
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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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*
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* Notes: This bot and its configuration are non-standard. My sensors are
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* located in different locations than usual, and are plugged into
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* different ports than usual.
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*/
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//=====================================================================//
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//==================================================================================//
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/* Quick function to set the speed of the drive motors
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*
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@ -48,7 +45,35 @@ void setMotors(int leftSpeed, int rightSpeed) {
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motor[rightMotor] = rightSpeed;
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}
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//=====================================================================//
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/* Quickly set the arm motor speed
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*
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* Arguments:
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* - speed: signed integer, -127 to 127
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* - Speed to drive the arm motor
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*
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* Notes:
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* This is a very superfluous function but I hate typing motor[motorName] = 127 constantly
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*/
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void setArm(int speed) {
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// Set the arm motor speed
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motor[armMotor] = speed;
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}
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/* Quickly set the claw motor speed
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*
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* Arguments:
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* - speed: signed integer, -127 to 127
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* - Speed to drive the claw motor
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*
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* Notes:
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* This is a very superfluous function but I hate typing motor[motorName] = 127 constantly
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*/
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void setClaw(int speed) {
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// Set the claw motor speed
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motor[clawMotor] = speed;
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}
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//==================================================================================//
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/* Quick function to stop both drive motors
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*
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@ -61,7 +86,7 @@ void stop() {
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motor[rightMotor] = 0;
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}
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//=====================================================================//
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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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@ -80,7 +105,7 @@ void driveForward(int speed, int timeMs) {
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stop();
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}
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//=====================================================================//
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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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@ -101,7 +126,7 @@ void driveBackward(int speed, int timeMs) {
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stop();
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}
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//=====================================================================//
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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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@ -127,7 +152,7 @@ void driveOneSide(char *side, int speed, int timeMs) {
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stop();
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}
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//=====================================================================//
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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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@ -173,7 +198,7 @@ void turn(char *direction, int speed, int timeMs, bool reverse) {
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stop();
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}
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//=====================================================================//
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//==================================================================================//
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/* Move the bot's arm up or down
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*
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@ -218,7 +243,7 @@ void armUp100(int speed) {
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motor[armMotor] = 0;
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}
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//=====================================================================//
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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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@ -243,7 +268,7 @@ void armDown100(int speed) {
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motor[armMotor] = 0;
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}
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//=====================================================================//
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//==================================================================================//
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/* Close the claw
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*
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@ -260,7 +285,7 @@ void clawGrab() {
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motor[clawMotor] = 0;
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}
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//=====================================================================//
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//==================================================================================//
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/* Open the claw
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*
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@ -277,7 +302,7 @@ void clawRelease() {
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motor[clawMotor] = 0;
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}
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//=====================================================================//
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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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@ -312,28 +337,75 @@ void runAutonomous() {
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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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armDown100(32);
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}
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//=====================================================================//
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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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//=====================================================================//
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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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while (SensorValue[buttonStart]==1) {
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// Driver Mode, Controller Inputs
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int leftSpeed = (vexRT[Ch2] + vexRT[Ch1]) / 2; // (y + x) / 2
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int rightSpeed = (vexRT[Ch2] - vexRT[Ch1])/2; // (y - x) / 2
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float leftAdjSpeed = leftSpeed / 10;
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float rightAdjSpeed = rightSpeed / 10;
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leftAdjSpeed = floor(leftAdjSpeed) * 10;
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rightAdjSpeed = floor(rightAdjSpeed) * 10;
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if (fabs(leftAdjSpeed) > 30) {
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motor[leftMotor] = leftAdjSpeed;
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} else {
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motor[leftMotor] = 0;
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}
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if (fabs(rightAdjSpeed) > 30) {
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motor[rightMotor] = rightAdjSpeed;
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} else {
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motor[rightMotor] = 0;
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}
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// Raise, lower or do not move arm
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if(vexRT[Btn7U] == 1) //If button 5U is pressed...
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{
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motor[armMotor] = 32; //...raise the arm.
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}
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else if(vexRT[Btn7D] == 1) //Else, if button 5D is pressed...
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{
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motor[armMotor] = -32; //...lower the arm.
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}
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else //Else (neither button is pressed)...
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{
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motor[armMotor] = 0; //...stop the arm.
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}
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// Open, close or do not more claw
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if(vexRT[Btn7L] == 1) //If Button 6U is pressed...
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{
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motor[clawMotor] = 64; //...close the gripper.
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}
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else if(vexRT[Btn7R] == 1) //Else, if button 6D is pressed...
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{
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motor[clawMotor] = -32; //...open the gripper.
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}
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else //Else (neither button is pressed)...
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{
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motor[clawMotor] = 0; //...stop the gripper.
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}
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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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}
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