///// INITIALIZE ROBOT ///// void initializeRobot() { // Stop All Motors // motor[leftFrontMotor] = 0; motor[leftRearMotor] = 0; motor[rightFrontMotor] = 0; motor[rightRearMotor] = 0; motor[spinnerMotor] = 0; motor[liftMotor] = 0; motor[leftWinch] = 0; motor[rightWinch] = 0; /* Commented out to test servo on new robot for 2014 year // Medium hook rate and retracted position SetHookServos(HOOK_MIN); */ servoChangeRate[leftHook] = 2; servoChangeRate[rightHook] = 2; /* Commented out for same reason as above // Low hopper speed and retracted position SetHopperServos(HOPPER_MAX); */ servoChangeRate[leftHopper] = 1; servoChangeRate[rightHopper] = 1; // Initialize encoders resetDriveEncoder(); // Enable the light sensors FlashLights(1, 0); }
void TCDSti::LedSmile(void) { if (m_ControllerType == C51134) m_pPcio->Dome_ioWrite(DIAG_LIGHTDELAY_134, (SHORT) 1); else m_pPcio->Dome_ioWrite(DIAG_LIGHTDELAY_140, (SHORT) 1); ClearLightingModeAll(); SetLightingModeCol(1); SetLightingModeRow(1); SnapShot(150); SetLightingModeCol(9); SetLightingModeRow(9); FlashLights(); DomeReset(); }