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3157_2018
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3157_2018
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#include "robot-config.h"
#include <math.h>
/*---------------------------------------------------------------------------*/
/* */
/* Written By: Jack Long, Kohmei Kadoya, and Abby Dennin */
/* */
/*---------------------------------------------------------------------------*/
/*----this is a test----*/
//this is another test
//this is a text from nhat's surface
//Hail Brian
//vex::brain Brain;
vex::motor BackR(vex::PORT9, vex::gearSetting::ratio18_1, false);
vex::motor FrontR(vex::PORT10, vex::gearSetting::ratio18_1, true);
vex::motor BackL(vex::PORT2, vex::gearSetting::ratio18_1, true);
vex::motor FrontL(vex::PORT1, vex::gearSetting::ratio18_1, false);
vex::motor intake(vex::PORT3, vex::gearSetting::ratio18_1, false);
vex::motor loader(vex::PORT4, vex::gearSetting::ratio18_1, false);
vex::motor shooter(vex::PORT5, vex::gearSetting::ratio18_1, true);
vex::motor flipper(vex::PORT6, vex::gearSetting::ratio18_1, false);
vex::vision::signature BALL (1, -347, 399, 26, -3921, -2787, -3354, 3, 0);
vex::vision mainVis (vex::PORT7, 50, BALL);
vex::vision::signature BALL2 (1, -2373, -1623, -1998, -533, 1335, 400, 1.2, 0);
vex::vision mainVis2 (vex::PORT11, 50, BALL2);
vex::sonar SonaR = vex::sonar(Brain.ThreeWirePort.A);//A and B
//B is used by SonaR
vex::limit LimBL = vex::limit(Brain.ThreeWirePort.C);
vex::limit LimBR = vex::limit(Brain.ThreeWirePort.D);
vex::motor29 redLight = vex::motor29(Brain.ThreeWirePort.E);
vex::motor29 whiteLight = vex::motor29(Brain.ThreeWirePort.F);
vex::gyro Gyro1 = vex::gyro(Brain.ThreeWirePort.G);
vex::gyro GyroClimb = vex::gyro(Brain.ThreeWirePort.H);
vex::controller con(vex::controllerType::primary);
vex::controller con2(vex::controllerType::partner);
using namespace vex;
competition Competition1;
int mode = 0;
bool isTank = true;
bool autonBlueF = false;
bool autonRedB = false;
bool autonBlueB = false;
bool autonRedF = false;
bool autonSkills = false;
bool disableAuton = true;
bool disableUC = true;
bool reverse =false;
double buffer = 1.0;
double MAX_FLIPPER = 860;
double MIN_FLIPPER = 0;
//pre_auton check
double TEMP_THRESH = 40;
double LOW_TEMP_THRESH = 3;
double TORQUE_THRESH = 0.8;
double POWER_THRESH = 5;
std::string currAuton = "";
bool lastMovedFwd;
bool intakeMoving;
bool buzzed = false;
bool activeInputForIntake = false;
bool bangActive = false;
bool oneBall = true;
bool twoBall = true;
//Above: Global Vars
//---------------------------------//
// TASKS //
//---------------------------------//
int drive()
{
while(true)
{
double y = con.Axis3.position(pct) * buffer;
double x = con.Axis1.position(pct) * buffer * 0.73 ;
if(fmax(x, x*-1) > 3)
{
lastMovedFwd = false;
}
else if(fmax(y, y*-1) > 3)
{
lastMovedFwd = true;
}
if(fmax(y, y*-1) < 3 && fmax(x, x*-1) < 3)
{ //no input
if(lastMovedFwd == false)
{
BackR.stop(brakeType::hold);
BackL.stop(brakeType::hold);
FrontR.stop(brakeType::hold);
FrontL.stop(brakeType::hold);
}
else
{
BackR.stop(brakeType::brake);
BackL.stop(brakeType::brake);
FrontR.stop(brakeType::brake);
FrontL.stop(brakeType::brake);
}
}
else
{
BackR.spin(vex::directionType::fwd, y - x, vex::velocityUnits::pct);
FrontR.spin(vex::directionType::fwd, y - x, vex::velocityUnits::pct);
BackL.spin(vex::directionType::fwd, y + x, vex::velocityUnits::pct);
FrontL.spin(vex::directionType::fwd, y + x, vex::velocityUnits::pct);
}
task::sleep(30);
}
}
int load()
{
if(oneBall && !twoBall)
{
intakeMoving = true;
intake.spin(directionType::rev, 100, velocityUnits::pct);
loader.spin(directionType::fwd, 100, velocityUnits::pct);
vex::task::sleep(300);
loader.spin(directionType::rev, 35, velocityUnits::pct);
intakeMoving = false;
buzzed = false;
}
else{
intakeMoving = true;
intake.spin(directionType::rev, 75, velocityUnits::pct);
loader.spin(directionType::fwd, 100, velocityUnits::pct);
vex::task::sleep(100);
intake.stop();
vex::task::sleep(370);
loader.spin(directionType::rev, 35, velocityUnits::pct);
intake.spin(directionType::rev, 75, velocityUnits::pct);
vex::task::sleep(300);
intakeMoving = false;
buzzed = false;
}
return (0);
}
int buzzer(){
while(true){
if(shooter.velocity(velocityUnits::rpm) > 190 && !buzzed){
con.rumble("-");
buzzed = true;
}
vex::task::sleep(100);
}
}
int intakeDown()
{
intakeMoving = true;
intake.spin(directionType::rev, 1000, velocityUnits::pct);
vex::task::sleep(1200);
intake.stop(brakeType::coast);
intakeMoving = false;
return (0);
}
int ballStateManager()
{
mainVis.setLedBrightness(100);
mainVis.setLedColor(210,255,230);
mainVis2.setLedBrightness(100);
mainVis2.setLedColor(210,255,230);
Brain.Screen.setFillColor(blue);
Brain.Screen.setFont(fontType::mono40);
whiteLight.spin(directionType::fwd,30,velocityUnits::pct);
while(true)
{
mainVis2.takeSnapshot(BALL2);
mainVis.takeSnapshot(BALL);
/*Brain.Screen.setCursor(4,1);
Brain.Screen.clearLine();
Brain.Screen.print("N2:%1.0d,X:%3.0d,Y:%3.0d,H:%3.0d",mainVis2.objectCount,mainVis2.largestObject.centerX,mainVis2.largestObject.centerY,mainVis2.largestObject.height);
Brain.Screen.setCursor(3,1);
Brain.Screen.clearLine();
Brain.Screen.print("N1:%1.0d,X:%3.0d,Y:%3.0d,H:%3.0d",mainVis.objectCount,mainVis.largestObject.centerX,mainVis.largestObject.centerY,mainVis.largestObject.height);
//*/
//Brain.Screen.render();
if(mainVis.largestObject.centerY < 30 || !mainVis.largestObject.exists || mainVis.largestObject.height < 35)
{
//if ball does not exsits, is too small, or is not fully loaded
oneBall = false;
twoBall = false;
}
else if(mainVis2.largestObject.exists && mainVis2.largestObject.height > 65)
{
//there are two balls loaded
oneBall = true;
twoBall = true;
}
else
{
//Only one ball is fully loaded and there are no balls seen by 2nd vision
oneBall = true;
twoBall = false;
}
vex::task::sleep(50);
}
}
int LEDManager()
{
Brain.resetTimer();
while(true)
{
if(!oneBall && !twoBall)
{
//if ball does not exsits, is too small, or is not fully loaded
//intake.spin(directionType::rev, 100, velocityUnits::pct); //Intake in!
redLight.spin(directionType::fwd,0,velocityUnits::pct);
//whiteLight.spin(directionType::fwd,0,velocityUnits::pct);
}
else if(oneBall && twoBall)
{
//there are two balls loaded
//intake.stop(brakeType::coast);
redLight.spin(directionType::fwd,100,velocityUnits::pct);
//whiteLight.spin(directionType::fwd,100,velocityUnits::pct);
}
vex::task::sleep(50);
}
}
int Flash(){
while(true){
if(oneBall && !twoBall){
redLight.spin(directionType::fwd,0,velocityUnits::pct);
}
task::sleep(250);
if(oneBall && !twoBall){
redLight.spin(directionType::fwd,100,velocityUnits::pct);
}
task::sleep(100);
}
}
int intakeManager()
{
while(true)
{
if(con.ButtonL1.pressing())
{
intake.spin(directionType::fwd, 100, velocityUnits::pct);
vex::task::sleep(250);
}
else if(con.ButtonL2.pressing())
{
vex::task d(intakeDown);
vex::task::sleep(250);
}
else if(oneBall && twoBall)
{
//there are two balls loaded
intake.stop(brakeType::coast);
//redLight.spin(directionType::fwd,100,velocityUnits::pct);
//whiteLight.spin(directionType::fwd,100,velocityUnits::pct);
}
else if(intakeMoving)
{
//cooldown from intake Down. Dont do anything
}
else if(!oneBall && !twoBall)
{
//if ball does not exsits, is too small, or is not fully loaded
intake.stop(brakeType::coast);
//intake.spin(directionType::rev, 100, velocityUnits::pct); //Intake in!
//redLight.spin(directionType::fwd,0,velocityUnits::pct);
//whiteLight.spin(directionType::fwd,0,velocityUnits::pct);
}
else if(oneBall && !twoBall)
{
//Only one ball is fully loaded and there are no balls seen by 2nd vision
intake.stop(brakeType::coast);
//redLight.spin(directionType::fwd,10,velocityUnits::pct);
//whiteLight.spin(directionType::fwd,190,velocityUnits::pct);
}
vex::task::sleep(50);
}
}
int slowAndShootMid(){
intakeMoving = true;
intake.spin(directionType::fwd, 35, velocityUnits::pct);
loader.spin(directionType::fwd, 100, velocityUnits::pct);
vex::task::sleep(50);
intake.stop();
//activeInputForIntake = false;
vex::task::sleep(410);
loader.spin(directionType::rev, 35, velocityUnits::pct);
buzzed = false;
//activeInputForIntake = true;
intake.spin(directionType::fwd, 100, velocityUnits::pct);
buzzed = false;
shooter.spin(directionType::fwd, 128,velocityUnits::rpm);
/*double averageSpeed;
double p = shooter.velocity(velocityUnits::rpm);
double pp = shooter.velocity(velocityUnits::rpm);
averageSpeed = (pp + p + shooter.velocity(velocityUnits::rpm))/3;
while(averageSpeed > 130 && averageSpeed < 120){
pp = p;
p = shooter.velocity(velocityUnits::rpm);
averageSpeed = (pp + p + shooter.velocity(velocityUnits::rpm))/3;
task::sleep(100);
}*/
task::sleep(135);
intake.spin(directionType::fwd, 35, velocityUnits::pct);
loader.spin(directionType::fwd, 100, velocityUnits::pct);
vex::task::sleep(50);
intake.stop();
//activeInputForIntake = false;
vex::task::sleep(410);
loader.spin(directionType::rev, 35, velocityUnits::pct);
intake.stop(brakeType::coast);
intakeMoving = false;
shooter.spin(directionType::fwd, 200,velocityUnits::rpm);
return(0);
}
int display() {
double tempSpeed;
while(true) {
Brain.Screen.setFillColor(blue);
Brain.Screen.setFont(fontType::mono60);
Brain.Screen.setCursor(3,1);
Brain.Screen.clearLine();
Brain.Screen.print("Gyro:%f", GyroClimb.value(rotationUnits::deg));
Brain.Screen.setCursor(4,1);
Brain.Screen.print("Gyro:%f", Gyro1.value(rotationUnits::deg));
/*
if(activeInputForIntake){
Brain.Screen.setCursor(4,1);
Brain.Screen.print("Active Inatke");
}
else{
Brain.Screen.setCursor(4,1);
Brain.Screen.print("NonActi Inatke");
}*/
/*
if(LimBR.pressing()){
Brain.Screen.setCursor(3,1);
Brain.Screen.print("BR Presssed");
}
else{
Brain.Screen.setCursor(3,1);
Brain.Screen.clearLine();
}
if(LimBL.pressing()){
Brain.Screen.setCursor(4,1);
Brain.Screen.print("BL Presssed");
}
else{
Brain.Screen.setCursor(4,1);
Brain.Screen.clearLine();
}
Brain.Screen.setCursor(1,1);
Brain.Screen.print("SonaR %3.1f",SonaR.distance(distanceUnits::cm));
Brain.Screen.setCursor(5,1);
Brain.Screen.print("shooter: %2.0f T: %2.0f",shooter.temperature(percentUnits::pct),intake.temperature(percentUnits::pct));
tempSpeed = shooter.velocity(velocityUnits::rpm)*15;
Brain.Screen.setCursor(6,1);
Brain.Screen.print("RPM: %3.1f",tempSpeed);
*/
/*
Brain.Screen.setFillColor(blue);
Brain.Screen.setFont(fontType::mono60);
Brain.Screen.setCursor(3,1);
Brain.Screen.print("Temp: %2.0f T: %2.0f",shooter.temperature(percentUnits::pct),intake.temperature(percentUnits::pct));
tempSpeed = shooter.velocity(velocityUnits::rpm)*15;
Brain.Screen.setCursor(2,1);
Brain.Screen.print("RPM: %3.1f",tempSpeed);*/
vex::task::sleep(20);
}
return (0);
}
//Above: Tasks
//---------------------------------//
// GENERAL FUNCTIONS //
//---------------------------------//
void brakeHold()
{
FrontR.stop(brakeType::hold);
BackR.stop(brakeType::hold);
FrontL.stop(brakeType::hold);
BackL.stop(brakeType::hold);
}
void brakeBrake()
{
FrontR.stop(brakeType::brake);
BackR.stop(brakeType::brake);
FrontL.stop(brakeType::brake);
BackL.stop(brakeType::brake);
}
void brakeCoast()
{
FrontR.stop(brakeType::coast);
BackR.stop(brakeType::coast);
FrontL.stop(brakeType::coast);
BackL.stop(brakeType::coast);
}
void setDriveSpeed(int speed){
BackR.spin(vex::directionType::fwd, speed, vex::velocityUnits::pct);
FrontR.spin(vex::directionType::fwd, speed, vex::velocityUnits::pct);
BackL.spin(vex::directionType::fwd, speed, vex::velocityUnits::pct);
FrontL.spin(vex::directionType::fwd, speed, vex::velocityUnits::pct);
}
void setLeftSpeed(int speed){
BackL.spin(vex::directionType::fwd, speed, vex::velocityUnits::pct);
FrontL.spin(vex::directionType::fwd, speed, vex::velocityUnits::pct);
}
void setRightSpeed(int speed){
BackR.spin(vex::directionType::fwd, speed, vex::velocityUnits::pct);
FrontR.spin(vex::directionType::fwd, speed, vex::velocityUnits::pct);
}
//Must be half tile away and must be centered!!!
void flipAndSuck(){
setDriveSpeed(60);
intake.spin(directionType::fwd,100,velocityUnits::pct);
vex::task::sleep(100); //250
setDriveSpeed(55); //150
vex::task::sleep(200);
setDriveSpeed(60);
vex::task::sleep(73);
intake.spin(directionType::rev,100,velocityUnits::pct);
vex::task::sleep(67);
//vex::task::sleep(100);
setDriveSpeed(40);
vex::task::sleep(35);
vex::task::sleep(60);
setDriveSpeed(15);
vex::task::sleep(300);
setDriveSpeed(7);
vex::task::sleep(200);
setDriveSpeed(0);
//intake.stop(brakeType::brake;
//task::sleep(500);
}
void flipAndSuck2(){
intake.spin(directionType::fwd,100,velocityUnits::pct);
setDriveSpeed(52);
vex::task::sleep(160);
setDriveSpeed(40);
vex::task::sleep(38);
intake.spin(directionType::rev,100,velocityUnits::pct);
vex::task::sleep(176);
setDriveSpeed(30);
vex::task::sleep(40);
vex::task::sleep(55);
setDriveSpeed(20);
vex::task::sleep(100);
setDriveSpeed(0);
//intake.stop(brakeType::brake);
vex::task::sleep(120);
setDriveSpeed(-20);
vex::task::sleep(200); //250
setDriveSpeed(-30);
vex::task::sleep(200); //250
setDriveSpeed(-20);
vex::task::sleep(150);
setDriveSpeed(-10);
vex::task::sleep(150);
brakeHold();
//task::sleep(500);
}
void flipAndSuck3(){
setDriveSpeed(40);
vex::task::sleep(800); //250
//setDriveSpeed(40); //150
intake.spin(directionType::fwd,100,velocityUnits::pct);
vex::task::sleep(125);
setDriveSpeed(60);
vex::task::sleep(180);
//vex::task::sleep(100);
setDriveSpeed(40);
vex::task::sleep(40);
intake.spin(directionType::rev,100,velocityUnits::pct);
vex::task::sleep(55);
setDriveSpeed(20);
vex::task::sleep(120);
setDriveSpeed(0);
//intake.stop(brakeType::brake);
vex::task::sleep(120);
setDriveSpeed(-20);
vex::task::sleep(200); //250
setDriveSpeed(-30);
vex::task::sleep(400);
setDriveSpeed(-20);
vex::task::sleep(200);
brakeHold();
task::sleep(500);
}
//Above: Genral Functions
//---------------------------------//
// AUTON FUNCTIONS //
//---------------------------------//
void intakeInAuton()
{
intake.spin(directionType::rev, 70, velocityUnits::pct);
}
void intakeOutAuton()
{
intake.spin(directionType::fwd, 70, velocityUnits::pct);
}
void loadUpAuton()
{
loader.spin(directionType::fwd, 100, velocityUnits::pct);
}
void loadDownAuton()
{
loader.spin(directionType::rev, 100, velocityUnits::pct);
}
void backSquare(){
bool lastLeft = false;
flipper.rotateTo(0,rotationUnits::deg,30,velocityUnits::pct,true);
flipper.stop(brakeType::coast);
setDriveSpeed(-20);
bool done = false;
while(!done){
if(!LimBL.pressing() && !LimBR.pressing()){
}
else if(LimBL.pressing() && LimBR.pressing()){
done = true;
}
else if(LimBL.pressing()){
FrontR.spin(vex::directionType::rev, 20, pct);
BackR.spin(vex::directionType::rev, 20, pct);
FrontL.stop(brakeType::coast);
BackL.stop(brakeType::coast);
lastLeft = false;
}
else if(LimBR.pressing()){
FrontL.spin(vex::directionType::rev, 20, pct);
BackL.spin(vex::directionType::rev, 20, pct);
FrontR.stop(brakeType::coast);
BackR.stop(brakeType::coast);
lastLeft = true;
}
}
/*if(!lastLeft){
FrontR.spin(vex::directionType::rev, 20, pct);
BackR.spin(vex::directionType::rev, 20, pct);
FrontL.stop(brakeType::hold);
BackL.stop(brakeType::hold);
}
else{
FrontL.spin(vex::directionType::rev, 20, pct);
BackL.spin(vex::directionType::rev, 20, pct);
FrontR.stop(brakeType::hold);
BackR.stop(brakeType::hold);
}*/
//task::sleep(300);
setDriveSpeed(-20);
task::sleep(450);
brakeHold();
}
void fixArmAfterBackSquare(){
flipper.rotateTo(50,rotationUnits::deg,20,velocityUnits::pct,false);
}
//Set long run to ture if you are squaring for more than 1 tile
void frontSquare()
{
intakeInAuton();
setDriveSpeed(60);
Brain.Screen.setCursor(1,1);
while(SonaR.distance(distanceUnits::cm) > 50)
{
Brain.Screen.print("Untill 50 @ 60Spd %3.0f",SonaR.distance(distanceUnits::cm));
}
setDriveSpeed(50);
Brain.Screen.setCursor(2,1);
while(SonaR.distance(distanceUnits::cm) > 15)
{
Brain.Screen.print("Untill 30 @ 30Spd %3.0f",SonaR.distance(distanceUnits::cm));
}
setDriveSpeed(30);
Brain.Screen.setCursor(3,1);
while(SonaR.distance(distanceUnits::cm) > 8)
{
Brain.Screen.print("Untill 15 @ 10Spd %3.0f",SonaR.distance(distanceUnits::cm));
}
intake.stop(brakeType::coast);
Brain.Screen.setCursor(4,1);
setDriveSpeed(8);
while(SonaR.distance(distanceUnits::cm) > 5.5)
{
Brain.Screen.print("Untill 6 @ 8Spd %3.0f",SonaR.distance(distanceUnits::cm));
}
task::sleep(450);
brakeHold();
//task::sleep(150);
}
//Not tested!!!, squares where it is - against the nearest perpendicular wall
/*void virtualSquare(){
double diff = (SonaL.distance(distanceUnits::cm) - SonaR.distance(distanceUnits::cm));
if(diff > 3){//tiled left
while(diff > 3){
Brain.Screen.print("Left at D: %2.1f",diff);
setLeftSpeed(0.1*diff);
setRightSpeed(-0.1*diff);
diff = (SonaL.distance(distanceUnits::cm) - SonaR.distance(distanceUnits::cm));
}
brakeHold();
}
else if (diff < -3){//titled right
while(diff < -3){
Brain.Screen.print("Right at D: %2.1f",diff);
setLeftSpeed(-0.1*diff);
setRightSpeed(0.1*diff);
diff = (SonaL.distance(distanceUnits::cm) - SonaR.distance(distanceUnits::cm));
}
brakeHold();
}
}*/
//Above auton functions
//---------------------------------//
// AUTON MOVEMENTS //
//---------------------------------//
void moveForward( double power, double angle, double time, double shawnMendes, bool ramp)
{
if(power < 0 || angle < 0 ||time < 0)
{
Brain.Screen.setFillColor(red);
Brain.Screen.drawRectangle(0,0,2000,2000);
Brain.Screen.setCursor(3,2);
Brain.Screen.print("No negative numbers!");
vex::task::sleep(3000);
}
double angleMoved;
BackR.resetRotation();
BackL.resetRotation();
FrontR.resetRotation();
FrontL.resetRotation();
Brain.resetTimer();
for(double i = 0; i < 100; i++)
{
BackR.spin(vex::directionType::fwd, power * (i / 100), pct);
BackL.spin(vex::directionType::fwd, shawnMendes * (power * (i / 100)), pct);
FrontR.spin(vex::directionType::fwd, power * (i / 100), pct);
FrontL.spin(vex::directionType::fwd, shawnMendes * (power * (i / 100)), pct);
vex::task::sleep(time / 100);
Brain.Screen.setFont(fontType::mono20);
Brain.Screen.setCursor(1,1);
Brain.Screen.print("Timer: %3.1f",Brain.timer(timeUnits::msec));
}
angleMoved = (BackR.rotation(rotationUnits::deg) + BackL.rotation(rotationUnits::deg) + FrontR.rotation(rotationUnits::deg) + FrontL.rotation(rotationUnits::deg)) / 4;
if(ramp){
angleMoved = angleMoved/2;
}
Brain.Screen.setCursor(2,1);
Brain.Screen.print("BR: %3.1f/BL: %3.1f/FR: %3.1f/FL: %3.1f",BackR.rotation(rotationUnits::deg),BackL.rotation(rotationUnits::deg),FrontR.rotation(rotationUnits::deg),FrontL.rotation(rotationUnits::deg));
Brain.Screen.setCursor(3,1);
Brain.Screen.print("Rampup Angle: %3.1f",angleMoved);
Brain.Screen.setCursor(4,1);
Brain.Screen.print("MoveFor: %3.1f",(angle - (2 * angleMoved)));
if((angle - (2 * angleMoved)) < 0)
{
Brain.Screen.setFillColor(red);
Brain.Screen.drawRectangle(0,0,2000,2000);
Brain.Screen.setCursor(3,2);
Brain.Screen.print("Error duration is: %3.1f",(angle - (2 * angleMoved)));
vex::task::sleep(3000);
}
BackR.spin(vex::directionType::fwd, power, vex::velocityUnits::pct);
BackL.spin(vex::directionType::fwd, power, vex::velocityUnits::pct);
FrontR.spin(vex::directionType::fwd, power, vex::velocityUnits::pct);
FrontL.spin(vex::directionType::fwd, power, vex::velocityUnits::pct);
while(((BackR.rotation(rotationUnits::deg) + BackL.rotation(rotationUnits::deg) + FrontR.rotation(rotationUnits::deg) + FrontL.rotation(rotationUnits::deg)) / 4) < (angle - (2 * angleMoved)))
{
Brain.Screen.setCursor(5,1);
Brain.Screen.print("Currently: %3.1f",((BackR.rotation(rotationUnits::deg) + BackL.rotation(rotationUnits::deg) + FrontR.rotation(rotationUnits::deg) + FrontL.rotation(rotationUnits::deg)) / 4));
}
if(ramp){
for(double i = 0; i < 100; i++)
{
BackR.spin(vex::directionType::fwd, shawnMendes * (power * (1- (i / 100))), vex::velocityUnits::pct);
BackL.spin(vex::directionType::fwd, power * (1- (i / 100)), vex::velocityUnits::pct);
FrontR.spin(vex::directionType::fwd, shawnMendes * (power * (1 - (i / 100))), vex::velocityUnits::pct);
FrontL.spin(vex::directionType::fwd, power * (1 - (i / 100)), vex::velocityUnits::pct);
vex::task::sleep(time / 100);
Brain.Screen.setCursor(6,1);
Brain.Screen.print("FLSpeed: %3.1f",power * (1 - (i / 100)));
}
}
Brain.Screen.setCursor(7,1);
Brain.Screen.print("BR: %3.1f/BL: %3.1f/FR: %3.1f/FL: %3.1f",BackR.rotation(rotationUnits::deg),BackL.rotation(rotationUnits::deg),FrontR.rotation(rotationUnits::deg),FrontL.rotation(rotationUnits::deg));
Brain.Screen.setCursor(8,1);
Brain.Screen.print("Complete fwd(%3.1f,%3.1f,%3.1f)",power,angle,time);
FrontR.stop(brakeType::hold);
FrontL.stop(brakeType::hold);
BackR.stop(brakeType::hold);
BackL.stop(brakeType::hold);
}
void moveBackward( double power, double angle, double time, double shawnMendes)
{
if(power < 0 || angle < 0 ||time < 0)
{
Brain.Screen.setFillColor(red);
Brain.Screen.drawRectangle(0,0,2000,2000);
Brain.Screen.setCursor(3,2);
Brain.Screen.print("No negative numbers!");
vex::task::sleep(3000);
}
angle = angle *-1;
power = power *-1;
double angleMoved;
BackR.resetRotation();
BackL.resetRotation();
FrontR.resetRotation();
FrontL.resetRotation();
Brain.resetTimer();
for(double i = 0; i < 100; i++)
{
BackR.spin(vex::directionType::fwd, power * (i / 100), pct);
BackL.spin(vex::directionType::fwd, shawnMendes * (power * (i / 100)), pct);
FrontR.spin(vex::directionType::fwd, power * (i / 100), pct);
FrontL.spin(vex::directionType::fwd, shawnMendes* (power * (i / 100)), pct);
vex::task::sleep(time / 100);
Brain.Screen.setFont(fontType::mono20);
Brain.Screen.setCursor(1,1);
Brain.Screen.print("Timer: %3.1f",Brain.timer(timeUnits::msec));
}
angleMoved = (BackR.rotation(rotationUnits::deg) + BackL.rotation(rotationUnits::deg) + FrontR.rotation(rotationUnits::deg) + FrontL.rotation(rotationUnits::deg)) / 4;
Brain.Screen.setCursor(2,1);
Brain.Screen.print("BR: %3.1f/BL: %3.1f/FR: %3.1f/FL: %3.1f",BackR.rotation(rotationUnits::deg),BackL.rotation(rotationUnits::deg),FrontR.rotation(rotationUnits::deg),FrontL.rotation(rotationUnits::deg));
Brain.Screen.setCursor(3,1);
Brain.Screen.print("Rampup Angle: %3.1f",angleMoved);
Brain.Screen.setCursor(4,1);
Brain.Screen.print("MoveFor: %3.1f",(angle - (2 * angleMoved)));
if((angle - (2 * angleMoved)) > 0)
{
Brain.Screen.setFillColor(red);
Brain.Screen.drawRectangle(0,0,2000,2000);
Brain.Screen.setCursor(3,2);
Brain.Screen.print("Error duration is: %3.1f",(angle - (2 * angleMoved)));
vex::task::sleep(3000);
}
BackR.spin(vex::directionType::fwd, power, vex::velocityUnits::pct);
BackL.spin(vex::directionType::fwd, power, vex::velocityUnits::pct);
FrontR.spin(vex::directionType::fwd, power, vex::velocityUnits::pct);
FrontL.spin(vex::directionType::fwd, power, vex::velocityUnits::pct);
Brain.Screen.setCursor(5,1);
Brain.Screen.print("Main did NOT run");
while(((BackR.rotation(rotationUnits::deg) + BackL.rotation(rotationUnits::deg) + FrontR.rotation(rotationUnits::deg) + FrontL.rotation(rotationUnits::deg)) / 4) > (angle - (2 * angleMoved)))
{
Brain.Screen.setCursor(5,1);
Brain.Screen.print("Currently: %3.1f",((BackR.rotation(rotationUnits::deg) + BackL.rotation(rotationUnits::deg) + FrontR.rotation(rotationUnits::deg) + FrontL.rotation(rotationUnits::deg)) / 4));
}
for(double i = 0; i < 100; i++)
{
BackR.spin(vex::directionType::fwd, shawnMendes * (power * (1- (i / 100))), vex::velocityUnits::pct);
BackL.spin(vex::directionType::fwd, power * (1- (i / 100)), vex::velocityUnits::pct);
FrontR.spin(vex::directionType::fwd, shawnMendes * (power * (1 - (i / 100))), vex::velocityUnits::pct);
FrontL.spin(vex::directionType::fwd, power * (1 - (i / 100)), vex::velocityUnits::pct);
vex::task::sleep(time / 100);
Brain.Screen.setCursor(6,1);
Brain.Screen.print("FLSpeed: %3.1f",power * (1 - (i / 100)));
}
Brain.Screen.setCursor(7,1);
Brain.Screen.print("BR: %3.1f/BL: %3.1f/FR: %3.1f/FL: %3.1f",BackR.rotation(rotationUnits::deg),BackL.rotation(rotationUnits::deg),FrontR.rotation(rotationUnits::deg),FrontL.rotation(rotationUnits::deg));
Brain.Screen.setCursor(8,1);
Brain.Screen.print("Complete rev(%3.1f,%3.1f,%3.1f)",power,angle,time);
FrontL.stop();
FrontR.stop();
BackL.stop();
BackR.stop();
}
void turnLeft(double power, double angle, double time)
{
if(power < 0 || angle < 0 ||time < 0)
{
Brain.Screen.setFillColor(red);
Brain.Screen.drawRectangle(0,0,2000,2000);
Brain.Screen.setCursor(3,2);
Brain.Screen.print("No negative numbers!");
vex::task::sleep(3000);
}
double angleMoved;
BackR.resetRotation();
BackL.resetRotation();
FrontR.resetRotation();
FrontL.resetRotation();
Brain.resetTimer();
for(double i = 0; i < 100; i++)
{
BackR.spin(vex::directionType::fwd, power * (i / 100), pct);
BackL.spin(vex::directionType::rev, power * (i / 100), pct);
FrontR.spin(vex::directionType::fwd, power * (i / 100), pct);
FrontL.spin(vex::directionType::rev, power * (i / 100), pct);
vex::task::sleep(time / 100);
Brain.Screen.setFont(fontType::mono20);
Brain.Screen.setCursor(1,1);
Brain.Screen.print("Timer: %3.1f",Brain.timer(timeUnits::msec));
}
angleMoved = (BackR.rotation(rotationUnits::deg) + (-1*BackL.rotation(rotationUnits::deg)) + FrontR.rotation(rotationUnits::deg) + (-1*FrontL.rotation(rotationUnits::deg))) / 4;
Brain.Screen.setCursor(2,1);
Brain.Screen.print("BR: %3.1f/BL: %3.1f/FR: %3.1f/FL: %3.1f",BackR.rotation(rotationUnits::deg),BackL.rotation(rotationUnits::deg),FrontR.rotation(rotationUnits::deg),FrontL.rotation(rotationUnits::deg));
Brain.Screen.setCursor(3,1);
Brain.Screen.print("Rampup Angle: %3.1f",angleMoved);
Brain.Screen.setCursor(4,1);
Brain.Screen.print("MoveFor: %3.1f",(angle - (2 * angleMoved)));
if((angle - (2 * angleMoved)) < 0)
{
Brain.Screen.setFillColor(red);
Brain.Screen.drawRectangle(0,0,2000,2000);
Brain.Screen.setCursor(3,2);
Brain.Screen.print("Error duration is: %3.1f",(angle - (2 * angleMoved)));
vex::task::sleep(3000);
}
BackR.spin(vex::directionType::fwd, power, vex::velocityUnits::pct);
BackL.spin(vex::directionType::rev, power, vex::velocityUnits::pct);
FrontR.spin(vex::directionType::fwd, power, vex::velocityUnits::pct);
FrontL.spin(vex::directionType::rev, power, vex::velocityUnits::pct);
while(((BackR.rotation(rotationUnits::deg) + (-1*BackL.rotation(rotationUnits::deg)) + FrontR.rotation(rotationUnits::deg) + (-1*FrontL.rotation(rotationUnits::deg))) / 4) < (angle - (2 * angleMoved)))
{
Brain.Screen.setCursor(5,1);
Brain.Screen.print("Currently: %3.1f",((BackR.rotation(rotationUnits::deg) + (-1*BackL.rotation(rotationUnits::deg)) + FrontR.rotation(rotationUnits::deg) + (-1*FrontL.rotation(rotationUnits::deg))) / 4));
}
for(double i = 0; i < 100; i++)
{
BackR.spin(vex::directionType::fwd, power * (1- (i / 100)), vex::velocityUnits::pct);
BackL.spin(vex::directionType::rev, power * (1- (i / 100)), vex::velocityUnits::pct);
FrontR.spin(vex::directionType::fwd, power * (1 - (i / 100)), vex::velocityUnits::pct);
FrontL.spin(vex::directionType::rev, power * (1 - (i / 100)), vex::velocityUnits::pct);
vex::task::sleep(time / 100);
Brain.Screen.setCursor(6,1);
Brain.Screen.print("FLSpeed: %3.1f",power * (1 - (i / 100)));
}
Brain.Screen.setCursor(7,1);
Brain.Screen.print("BR: %3.1f/BL: %3.1f/FR: %3.1f/FL: %3.1f",BackR.rotation(rotationUnits::deg),BackL.rotation(rotationUnits::deg),FrontR.rotation(rotationUnits::deg),FrontL.rotation(rotationUnits::deg));
Brain.Screen.setCursor(8,1);
Brain.Screen.print("Complete fwd(%3.1f,%3.1f,%3.1f)",power,angle,time);
FrontL.stop();
FrontR.stop();
BackL.stop();
BackR.stop();
}
void turnRight(double power, double angle, double time)
{
if(power < 0 || angle < 0 ||time < 0)
{
Brain.Screen.setFillColor(red);
Brain.Screen.drawRectangle(0,0,2000,2000);
Brain.Screen.setCursor(3,2);
Brain.Screen.print("No negative numbers!");
vex::task::sleep(3000);
}
double angleMoved;
BackR.resetRotation();
BackL.resetRotation();
FrontR.resetRotation();
FrontL.resetRotation();
Brain.resetTimer();
for(double i = 0; i < 100; i++)