Foster: New page: #define _VEX_BOARD #include "API.h" #include "BuiltIns.h" #include "stdio.h" /* Fire fight robot Omni drive Last update - 13 November 2007 Rebuilt on 6 November ...

Foster — Mon, 15 Jun 2009 01:55:08 GMT

New page: <source lang="c"> #define _VEX_BOARD #include "API.h" #include "BuiltIns.h" #include "stdio.h" /* Fire fight robot Omni drive Last update - 13 November 2007 Rebuilt on 6 November ...

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<source lang="c">

#define _VEX_BOARD
#include "API.h"
#include "BuiltIns.h"
#include "stdio.h"
/*
Fire fight robot
Omni drive
Last update - 13 November 2007
Rebuilt on 6 November 2008
*/

#define sonar 11
#define front 1
#define right 2
#define left 3
#define back 4
#define sensorservo 7
#define co2servo 8

void IO_Initialization(void)
{

SetCompetitionMode(0,240); // Autonomous mode is 10 seconds, driver time is 240 seconds
SetDirection(sonar,0);
PrintToScreen("IO_Initialization Complete\n\r");

}

void Initialize(void) // When the robot is turned on this gets done first
{
PrintToScreen("Version 1 - FS\n\r");
Set_Number_of_Analog_Channels(4);
}

void Autonomous(void) // Autonomous code
{
#define speed 120
#define offset 20

} // End of Autonomous code

void OperatorControl(void) // Driver control code
{

int LF; // Left Front
int RF; // Right Front
int LR; // Left Rear
int RR; // Right Rear
int leftx;
int lefty;
int rightx;
int spin;
while ( 1 )
{
// Get Data
leftx = GetRxInput ( 1 , 4 ) ; // Left Joystick, X Axis
lefty = GetRxInput ( 1 , 3 ) ; // Left Joystick, Y Axis
rightx = GetRxInput ( 1 , 1 ) ; // Right Joystick, X Axis
// Half the input signal (so code does not overflow past 255)
leftx = leftx / 2 ;
lefty = lefty / 2 ;
spin = rightx / 2 ;
// Drive Code Algorithim
LF = RR = lefty - leftx + 127 ;
RF = LR = 255 - lefty - leftx ;
RR = 255 - RR ; // Reverse Direction of RR motor
LR = 255 - LR ; // Reverse Direction of LR motor
// Spin Code Algorithim
RF = RF - spin + 63 ;
RR = RR - spin + 63 ;
LF = LF - spin + 63 ;
LR = LR - spin + 63 ;
// Code overflow prevention
if ( LF < 0 )
{
LF = 0 ;
}
else if ( LF > 255 )
{
LF = 255 ;
}
if ( RF < 0 )
{
RF = 0 ;
}
else if ( RF > 255 )
{
RF = 255 ;
}
if ( RR < 0 )
{
RR = 0 ;
}
else if ( RR > 255 )
{
RR = 255 ;
}
if ( LR < 0 )
{
LR = 0 ;
}
else if ( LR > 255 )
{
LR = 255 ;
}
// Set Motors
SetPWM ( 1 , RF ) ;
SetPWM ( 2 , LF ) ;
SetPWM ( 3 , LR ) ;
SetPWM ( 4 , RR ) ;
}

} // End of Driver code

/*
void OperatorControl(void) // Driver control code
{
unsigned char forward;
unsigned char side;
unsigned char spin;
unsigned char search;
unsigned char co2;
printf('In Operator Mode\r');
while (1 == 1)
{
forward = GetRxInput ( 1 , 2 ) ; // Right Joystick, X Axis
side = GetRxInput ( 1 , 1 ) ; // Right Joystick, Y Axis
spin = GetRxInput ( 1 , 4 ) ; // Left Joystick, X Axis

SetPWM (right, forward);
SetPWM (left, 255 - forward);
SetPWM (front, side);
SetPWM (back, 255-side);

search = GetRxInput(1,5); // Back button
SetPWM (sensorservo,search);

co2 = GetRxInput(1,6); // back button
SetPWM (co2servo, co2);
}
}
*/
void main(void)
{
while (1)
{
PrintToScreen("This is the main loop\n\r");
OperatorControl();
Wait(2000);
}
}

</source>

Omnibot Code - Revision history

Foster: New page: #define _VEX_BOARD #include "API.h" #include "BuiltIns.h" #include "stdio.h" /* Fire fight robot Omni drive Last update - 13 November 2007 Rebuilt on 6 November ...