C++ (Cpp) scaleMotor Examples

Example #1

File: 4324_Teleop_state_function_Bryan_11_2_13.c Project: FRC967/linn-mar-robotics

//Riley's code
void TankDrive()
{
	if(joystick.joy1_y1>deadZone || joystick.joy1_y1<-deadZone)
		{
			motor[FrontLeft]=scaleMotor(joystick.joy1_y1);
			motor[BackLeft]=scaleMotor(joystick.joy1_y1);
			/*
			nxtDisplayTextLine(1, "%d", scaleMotor);
			wait1Msec(5000);
			*/
		}
		else
		{
			motor[FrontLeft]=off;
			motor[BackLeft]=off;
		}
		if(joystick.joy1_y2>deadZone || joystick.joy1_y2<-deadZone)
		{
			motor[FrontRight]=scaleMotor(joystick.joy1_y2);
			motor[BackRight]=scaleMotor(joystick.joy1_y2);
		}
		else
		{
			motor[FrontRight]=off;
			motor[BackRight]=off;
		}
}

Example #2

File: progchase.cpp Project: Svjatogor/PixyFirmware

// calculate left and right wheel commands
void combine(uint32_t x, uint32_t y)
{
	int32_t xError, yError, axesIn[2], axesOut[2];

	xError = X_CENTER-x;
	yError = Y_TRACK-y;
	
	//cprintf("x: %d y: %d xError: %d yError: %d\n", x, y, xError, yError);

	axesIn[0] = g_transLoop.update(yError);
	axesIn[1] = g_rotLoop.update(xError);

	axisMap(axesIn, axesOut);

	rcs_setPos(LEFT_AXIS, scaleMotor(axesOut[0]));
	rcs_setPos(RIGHT_AXIS, scaleMotor(axesOut[1]));
}	

Example #3

File: main_m4.cpp Project: achambers16/pixy

void motor(uint32_t x, uint32_t y)
{
	static MotorLoop rloop(1600, 4500);
	static MotorLoop tloop(4000, 4000);

	int32_t xerror, yerror, axesIn[2], axesOut[2];

	xerror = XCENTER-x;
	yerror = YTRACK-y;
	
	axesIn[0] = tloop.update(yerror);
	axesIn[1] = rloop.update(xerror);

	axisMap(axesIn, axesOut);

	rcs_setPos(0, scaleMotor(axesOut[0]));
	rcs_setPos(1, scaleMotor(axesOut[1]));
}

Example #4

File: 4324_Teleop_10_29_2013.c Project: FRC967/linn-mar-robotics

task main()
{
	//false=off/start position/etc.
	bool sweeperState=false;
	bool flagState=false;
	servo[basketServo]=basketServoUp;

	while(true)
	{
		//Riley's code
		if(abs(joystick.joy1_y1)>deadZone)
		{
			motor[FrontLeft]=scaleMotor(joystick.joy1_y1);
			motor[BackLeft]=scaleMotor(joystick.joy1_y1);
			//debug code
			/*
			nxtDisplayTextLine(1, "%d",scaleMotor(joystick.joy1_y1) );
			wait1Msec(5000);
			*/
		}
		else
		{
			motor[FrontLeft]=0;
			motor[BackLeft]=0;
		}
		if(abs(joystick.joy1_y2)>deadZone)
		{
			motor[FrontRight]=scaleMotor(joystick.joy1_y2);
			motor[BackRight]=scaleMotor(joystick.joy1_y2);
		}
		else
		{
			motor[FrontRight]=0;
			motor[BackRight]=0;
		}
		//End of Riley's code

		//Toggling the sweeper
		if(joy2Btn(SWEEPERBUTTON)==true && sweeperState==false)
		{
			motor[sweeper]=sweeperOn;
			sweeperState=true;
		}
		else if(joy2Btn(SWEEPERBUTTON)==true && sweeperState==true)
		{
			motor[sweeper]=sweeperOff;
			sweeperState=false;
		}

		//Moving the arm up or down
		if((abs(ARMJOYSTICK))>deadZone && ARMJOYSTICK>0)
		{
			motor[armMotor]=armMotorUp;
		}
		else if((abs(ARMJOYSTICK))>deadZone && ARMJOYSTICK<0)
		{
			while(SensorValue[touchSensor]==0)
			{
				motor[armMotor]=-armMotorUp;
			}
			motor[armMotor]=armMotorUp;
			wait1Msec(50);
			motor[armMotor]=0;
		}
		else
		{
			motor[armMotor]=0;
		}

		//Change the basket servo position
		if(joy2Btn(BASKETUPBUTTON)==true)
		{
			servo[basketServo]=basketServoUp;
		}
		else if(joy2Btn(BASKETDOWNBUTTON)==true)
		{
			servo[basketServo]=basketServoStart;
		}

		//Turns the flag motor on/off
		if(joy2Btn(FLAGBUTTON)==true && flagState==false)
		{
			motor[flagMotor]=flagMotorOn;
			flagState=true;
		}
		else if(joy2Btn(FLAGBUTTON)==true && flagState==true)
		{
			motor[flagMotor]=0;
			flagState=false;
		}
		wait1Msec(1);
	}
}

Example #5

File: 4324_Teleop_state_function_11_02_13.c Project: FRC967/linn-mar-robotics

task main()
{
	//false=off
	bool sweeperState=false;
	servo[basketServo]=basketServoUp;

	while(true)
	{
		getJoystickSettings(joystick);

	//Riley's code
		if(joystick.joy1_y1>deadZone || joystick.joy1_y1<-deadZone)
		{
			motor[FrontLeft]=scaleMotor(joystick.joy1_y1);
			motor[BackLeft]=scaleMotor(joystick.joy1_y1);
			/*
			nxtDisplayTextLine(1, "%d", scaleMotor);
			wait1Msec(5000);
			*/
		}
		else
		{
			motor[FrontLeft]=off;
			motor[BackLeft]=off;
		}
		if(joystick.joy1_y2>deadZone || joystick.joy1_y2<-deadZone)
		{
			motor[FrontRight]=scaleMotor(joystick.joy1_y2);
			motor[BackRight]=scaleMotor(joystick.joy1_y2);
		}
		else
		{
			motor[FrontRight]=off;
			motor[BackRight]=off;
		}
		//End of Riley's code

		//Toggling the sweeper
		if(joy2Btn(SWEEPERONBUTTON)==true && sweeperState==false)
		{
			motor[sweeper]=sweeperOn;
			sweeperState=true;
		}
		else if(joy2Btn(SWEEPEROFFBUTTON)==true && sweeperState==true)
		{
			motor[sweeper]=off;
			sweeperState=false;
		}

		//Reverses the sweeper direction while the button is pressed
		if(joy2Btn(SWEEPERREVBUTTON)==true)
		{
			motor[sweeper]=-sweeperOn;
		}
		else if(sweeperState==true)
		{
			motor[sweeper]=sweeperOn;
		}
		else if(sweeperState==false)
		{
			motor[sweeper]=off;
		}

		//Moving the arm up or down
		if(ARMJOYSTICK>deadZone)
		{
			motor[armMotor]=armMotorUp;
		}
		else if(ARMJOYSTICK<-deadZone)
		{
			//Checks if touchsensor is pressed before moving the arm
			if(SensorValue[touchSensor]==touchUnpressed)
			{
				motor[armMotor]=-armMotorUp;
			}
			else
			{
				motor[armMotor]=off;

			}
		}
		else
		{
			motor[armMotor]=off;
		}

		//Change the basket servo position
		if(joy2Btn(BASKETUPBUTTON)==true)
		{
			servo[basketServo]=basketServoUp;
		}
		else if(joy2Btn(BASKETDOWNBUTTON)==true)
		{
			servo[basketServo]=basketServoDown;
		}

		//Turns the flag motor on/off
		if(joy2Btn(FLAGBUTTON)==true /*&& flagState==false*/)
		{
			motor[flagMotor]=flagMotorOn;
			//flagState=true;
		}
		else if(joy2Btn(FLAGADJUSTBUTTON)==true)
		{
			motor[flagMotor]=flagMotorAdjust;
		}
		else /*if(joy2Btn(FLAGBUTTON)==true && flagState==true)*/
		{
			motor[flagMotor]=off;
			//flagState=false;
		}
	}
}