Robotc Red Position 2 Attack Autonomous

SUBMITTED BY: Guest

DATE: Jan. 26, 2014, 7:47 p.m.

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  1. #pragma config(Hubs, S1, HTMotor, HTMotor, HTServo, none)
  2. #pragma config(Hubs, S2, HTMotor, HTMotor, none, none)
  3. #pragma config(Sensor, S1, , sensorI2CMuxController)
  4. #pragma config(Sensor, S2, , sensorI2CMuxController)
  5. #pragma config(Motor, motorA, , tmotorNXT, openLoop)
  6. #pragma config(Motor, motorB, , tmotorNXT, openLoop)
  7. #pragma config(Motor, mtr_S1_C1_1, notused, tmotorTetrix, openLoop)
  8. #pragma config(Motor, mtr_S1_C1_2, notused1, tmotorTetrix, openLoop)
  9. #pragma config(Motor, mtr_S1_C2_1, motorD, tmotorTetrix, PIDControl, encoder)
  10. #pragma config(Motor, mtr_S1_C2_2, motorF, tmotorTetrix, PIDControl, encoder)
  11. #pragma config(Motor, mtr_S2_C1_1, motorE, tmotorTetrix, PIDControl, encoder)
  12. #pragma config(Motor, mtr_S2_C1_2, motorG, tmotorTetrix, PIDControl, encoder)
  13. #pragma config(Motor, mtr_S2_C2_1, notused2, tmotorTetrix, openLoop)
  14. #pragma config(Motor, mtr_S2_C2_2, notused3, tmotorTetrix, openLoop)
  15. #pragma config(Servo, srvo_S1_C3_1, servo1, tServoNone)
  16. #pragma config(Servo, srvo_S1_C3_2, servo2, tServoNone)
  17. #pragma config(Servo, srvo_S1_C3_3, servo3, tServoNone)
  18. #pragma config(Servo, srvo_S1_C3_4, servo4, tServoNone)
  19. #pragma config(Servo, srvo_S1_C3_5, servo5, tServoNone)
  20. #pragma config(Servo, srvo_S1_C3_6, servo6, tServoNone)
  21. //*!!Code automatically generated by 'ROBOTC' configuration wizard !!*//
  22. #include "JoystickDriver.c";
  23. void initializeRobot(){
  24. nMotorEncoder(motorD) =0;
  25. nMotorEncoder(motorE) =0;
  26. nMotorEncoder(motorF) =0;
  27. nMotorEncoder(motorG) =0;
  28. return;
  29. }
  30. void move(int direction, float revs);
  31. void turn(int direction, float revs);
  32. int fullrev = 1440;
  33. task main()
  34. {
  35. initializeRobot();
  36. waitForStart();
  38. move(0,7.9);
  39. turn(1,1.6);
  40. move(1,1.2);
  41. turn(0,0.6);
  42. move(1,4.6);
  43. }
  45. //This function is for turning. The "int" is actually a boolean. Use 0 for a left turn, 1 for a right turn.
  46. void turn(int direction, float revs)
  47. {
  48. nMotorEncoder(motorD) =0;
  49. nMotorEncoder(motorE) =0;
  50. nMotorEncoder(motorF) =0;
  51. nMotorEncoder(motorG) =0;
  52. if (direction==0)
  53. {
  54. while(nMotorEncoder(motorD) > -(fullrev*revs) & nMotorEncoder(motorE) > -(fullrev*revs) & nMotorEncoder(motorF) > -(fullrev*revs) & nMotorEncoder(motorG) > -(fullrev*revs))
  55. {
  56. motor(motorD) = -60;
  57. motor(motorE) = -60;
  58. motor(motorF) = -60;
  59. motor(motorG) = -60;
  60. }
  61. }
  62. else
  63. {
  64. while(nMotorEncoder(motorD) < (fullrev*revs) & nMotorEncoder(motorE) < (fullrev*revs) & nMotorEncoder(motorF) < (fullrev*revs) & nMotorEncoder(motorG) < (fullrev*revs))
  65. {
  66. motor(motorD) = 60;
  67. motor(motorE) = 60;
  68. motor(motorF) = 60;
  69. motor(motorG) = 60;
  70. }
  71. }
  72. }
  74. //This function is for moving. The "int" is actually a boolean. Use 0 for forward, 1 for backward.
  75. void move(int direction, float revs)
  76. {
  77. nMotorEncoder(motorD) =0;
  78. nMotorEncoder(motorE) =0;
  79. nMotorEncoder(motorF) =0;
  80. nMotorEncoder(motorG) =0;
  81. if (direction==0)
  82. {
  83. while(nMotorEncoder(motorD) > -(fullrev*revs) & nMotorEncoder(motorE) < (fullrev*revs) & nMotorEncoder(motorF) > -(fullrev*revs) & nMotorEncoder(motorG) < (fullrev*revs))
  84. {
  85. motor(motorD) = -60;
  86. motor(motorE) = 60;
  87. motor(motorF) = -60;
  88. motor(motorG) = 60;
  89. }
  90. }
  91. else
  92. {
  93. while(nMotorEncoder(motorD) < (fullrev*revs) & nMotorEncoder(motorE) > -(fullrev*revs) & nMotorEncoder(motorF) < (fullrev*revs) & nMotorEncoder(motorG) > -(fullrev*revs))
  94. {
  95. motor(motorD) = 60;
  96. motor(motorE) = -60;
  97. motor(motorF) = 60;
  98. motor(motorG) = -60;
  99. }
  100. }
  101. }
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