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Lab03 ... main

2 changed files with 89 additions and 145 deletions

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@ -19,8 +19,6 @@
"scope": "c",
"prefix": "//",
"body": [
"//==================================================================================//",
"",
"/* $1",
" *",
" * Arguments:",

232
Labs.c
View File

@ -45,41 +45,6 @@ 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:
@ -90,24 +55,8 @@ int checkArm(char *direction) {
* This is a very superfluous function but I hate typing motor[motorName] = 127 constantly
*/
void setArm(int speed) {
// Check the arm safety
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;
}
// Set the arm motor speed
motor[armMotor] = speed;
}
/* Quickly set the claw motor speed
@ -270,27 +219,6 @@ 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
@ -380,86 +308,104 @@ 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() {
moveArm(127, 1000);
moveArm(-127, 1000);
moveClaw(127, 1000);
moveClaw(-127, 1000);
moveArm(64, 1000);
moveArm(-64, 1000);
moveClaw(64, 1000);
moveClaw(-64, 1000);
// Drive Left Side
// driveOneSide("L", 127, 1000);
// Drive Right Side
// driveOneSide("R", 127, 1000);
// Reverse Left Side
// driveOneSide("L", -127, 1000);
// Reverse Right Side
// driveOneSide("R", -127, 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() {
// Loop over this code infinitely, this will allow running the autocode more than once
while (1) {
// As long as the start button isn't pressed (Logical 1) run the code for the controller input
while (SensorValue[buttonStart]==1) {
// Driver Mode, Controller Inputs
int leftSpeed = (vexRT[Ch2] + vexRT[Ch1]) / 2; // (y + x) / 2
int rightSpeed = (vexRT[Ch2] - vexRT[Ch1])/2; // (y - x) / 2
float leftAdjSpeed = leftSpeed / 10;
float rightAdjSpeed = rightSpeed / 10;
leftAdjSpeed = floor(leftAdjSpeed) * 10;
rightAdjSpeed = floor(rightAdjSpeed) * 10;
while (SensorValue[buttonStart]==1) {
// Driver Mode, Controller Inputs
int leftSpeed = (vexRT[Ch2] + vexRT[Ch1]) / 2; // (y + x) / 2
int rightSpeed = (vexRT[Ch2] - vexRT[Ch1])/2; // (y - x) / 2
float leftAdjSpeed = leftSpeed / 10;
float rightAdjSpeed = rightSpeed / 10;
leftAdjSpeed = floor(leftAdjSpeed) * 10;
rightAdjSpeed = floor(rightAdjSpeed) * 10;
if (fabs(leftAdjSpeed) > 30) {
motor[leftMotor] = leftAdjSpeed;
} else {
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(leftAdjSpeed) > 30) {
motor[leftMotor] = leftAdjSpeed;
} else {
motor[leftMotor] = 0;
}
// Once we've detected a button press, run the autonomous function block.
runAutonomous();
if (fabs(rightAdjSpeed) > 30) {
motor[rightMotor] = rightAdjSpeed;
} 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();
}