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Copy pathAutoParkGyro.c
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AutoParkGyro.c
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#pragma config(Hubs, S1, HTMotor, HTMotor, HTServo, none)
#pragma config(Sensor, S3, IR, sensorHiTechnicIRSeeker1200)
#pragma config(Sensor, S4, Gyro, sensorI2CHiTechnicGyro)
#pragma config(Motor, mtr_S1_C1_1, LeftF, tmotorTetrix, openLoop)
#pragma config(Motor, mtr_S1_C1_2, RightF, tmotorTetrix, openLoop, reversed)
#pragma config(Motor, mtr_S1_C2_1, LeftR, tmotorTetrix, openLoop)
#pragma config(Motor, mtr_S1_C2_2, RightR, tmotorTetrix, openLoop, reversed)
#pragma config(Servo, srvo_S1_C3_1, Clamp, tServoStandard)
#pragma config(Servo, srvo_S1_C3_2, IRlift, tServoNone)
#pragma config(Servo, srvo_S1_C3_3, servo3, tServoNone)
#pragma config(Servo, srvo_S1_C3_4, servo4, tServoNone)
#pragma config(Servo, srvo_S1_C3_5, servo5, tServoNone)
#pragma config(Servo, srvo_S1_C3_6, servo6, tServoNone)
//*!!Code automatically generated by 'ROBOTC' configuration wizard !!*//
#include "JoystickDriver.c"
void turnright(int degreesToTurn)
{
}
task main()
{
waitForStart(); // Wait for the field to enter autonomous mode
// void Display() // Displays both Servo Position and Encoder Value
// {
// NXT Display
// nxtDisplayCenteredTextLine(0, "Servo Position"); // __________________
// nxtDisplayCenteredBigTextLine(2, "%d", e); // | Servo Position |
// | ## ## |
// nxtDisplayCenteredTextLine(5, "%d", nMotorEncoder[motorA]); // | ## ## |
// nxtDisplayCenteredTextLine(7, "Encoder Position"); // | |
// | ## |
// wait1Msec(25); // Update screen every 25 milliseconds // |__Encoder Value__|
// }
servo[servo2] = 128; // changes the position of IR sensor to 128(up in the air). VALUES range from 0 to 255.
wait1Msec(500); // delay to allow for servo to get to position.
//Move forward and take sensor reading
motor[LeftF] = -50;
motor[RightF] = -50;
motor[LeftR] = 50;
motor[RightR] = 50;
wait1Msec(1300);
motor[LeftF] = 0;
motor[RightF] = 0;
motor[LeftR] = 0;
motor[RightR] = 0;
wait1Msec(500);
// FOLLOWING CODE USED TO DETERMINE POSITION OF CENTER CONSOLE
if (SensorValue[S3] == 5) // center piece is in Position 3 with bar just off to right
{
nMotorEncoder[LeftF] = 0; //clear the TETRIX encoders in motors left and right
nMotorEncoder[RightF] = 0;
wait1Msec(200); // Delay before next command
//right turn 45 degrees
motor[LeftF] = -40;
motor[RightF] = 40;
motor[LeftR] = 50;
motor[RightR] = -50;
wait1Msec(2000);
motor[LeftF] = 0;
motor[RightF] = 0;
motor[LeftR] = 0;
motor[RightR] = 0;
//Move straight ahead to avoid center
motor[LeftF] = -40;
motor[RightF] = -40;
motor[LeftR] = 50;
motor[RightR] = 50;
wait1Msec(1000);
motor[LeftF] = 0;
motor[RightF] = 0;
motor[LeftR] = 0;
motor[RightR] = 0;
wait1Msec(200);
//left turn 45 degrees
motor[LeftF] = 40;
motor[RightF] = -40;
motor[LeftR] = -50;
motor[RightR] = 50;
wait1Msec(2000);
motor[LeftF] = 0;
motor[RightF] = 0;
motor[LeftR] = 0;
motor[RightR] = 0;
wait1Msec(200);
//Move straight ahead to kick stand
motor[LeftF] = -40;
motor[RightF] = -40;
motor[LeftR] = 50;
motor[RightR] = 50;
wait1Msec(1000);
motor[LeftF] = 0;
motor[RightF] = 0;
motor[LeftR] = 0;
motor[RightR] = 0;
wait1Msec(200);
//Move forward off of wall
//motor[LeftF] = 70;
//motor[RightF] = 70;
//wait10Msec(1000);
//Right Turn 15 degrees
//while (nMotorEncoder[LeftF] > -300) //while the encoder wheel turns one revolution
//{
// motor[LeftF] = -60; //turn both motors on at 60 percent power
// motor[RightF] = 60;
//}
//motor[LeftF] = 0; //turn both motors off
//motor[RightF] = 0;
//Move forward to knock off bar
//motor[LeftF] = 70;
//motor[RightF] = 70;
//wait10Msec(3000);
}
if ((SensorValue[S3] > 0) & (SensorValue[S3] < 5)) //center piece is in Position 2 with bar straight ahead. CHARGE!!
{
nMotorEncoder[LeftF] = 0; //clear the TETRIX encoders in motors left and right
nMotorEncoder[RightF] = 0;
wait1Msec(200); // Delay before next command
//right turn 45 degrees
motor[LeftF] = -50;
motor[RightF] = 50;
motor[LeftR] = 50;
motor[RightR] = -50;
wait1Msec(2000);
motor[LeftF] = 0;
motor[RightF] = 0;
motor[LeftR] = 0;
motor[RightR] = 0;
//Move straight ahead to kick stand
motor[LeftF] = -50;
motor[RightF] = -50;
motor[LeftR] = 50;
motor[RightR] = 50;
wait1Msec(1200);
motor[LeftF] = 0;
motor[RightF] = 0;
motor[LeftR] = 0;
motor[RightR] = 0;
wait1Msec(200);
}
if (SensorValue[S3] == 0) //center piece is in Position 1 with bar straight ahead.
{
nMotorEncoder[LeftF] = 0; //clear the TETRIX encoders in motors left and right
nMotorEncoder[RightF] = 0;
wait1Msec(200); // Delay before next command
//Move straight ahead
motor[LeftF] = -50;
motor[RightF] = -50;
motor[LeftR] = 50;
motor[RightR] = 50;
wait1Msec(400);
motor[LeftF] = 0;
motor[RightF] = 0;
motor[LeftR] = 0;
motor[RightR] = 0;
wait1Msec(200);
//right turn to hit kick stand
motor[LeftF] = -50;
motor[RightF] = 50;
motor[LeftR] = 50;
motor[RightR] = -50;
wait1Msec(3000);
motor[LeftF] = 0;
motor[RightF] = 0;
motor[LeftR] = 0;
motor[RightR] = 0;
}
servo[servo2] = 250; // changes the position of IR sensor to 128(up in the air). VALUES range from 0 to 255. Need to test so we can set a value.
}