void initializeRobot()
{
// Sensors are config'ed and setup by RobotC (need to stabalize).
Servo_SetSpeed(servo_IR, 10); // maximum speed!
Servo_SetSpeed(servo_claw, 10); // maximum speed!
Servo_SetSpeed(servo_ramp, 100); // slowly update so ramp doesn't release.
Servo_Rotate(servo_IR, g_IRServoExtended); // will fold back up in tele-op
Servo_Rotate(servo_claw, g_clawServoExtended); // will be folded in tele-op
Servo_Rotate(servo_ramp, g_rampServoDefault); // stops ramp from deploying
Motor_SetMaxSpeed(g_FullRegulatedPower);
Motor_ResetEncoder(motor_L);
Motor_ResetEncoder(motor_R);
Motor_ResetEncoder(motor_lift);
// Wait this long so the claw & IR servos get to update.
// The ramp-release servo shouldn't move; the long update time
// is to prevent sudden jerks that might release the ramp.
// We don't need to wait for the IR sensor to stabalize since
// the robot doesn't read from it until it's at the first column,
// which should be ample time for RobotC to setup the sensor.
Time_Wait(10);
return;
}
void initializeRobot()
{
// Sensors are config'ed and setup by RobotC (need to stabalize).
Servo_SetSpeed(servo_IR, 10); // maximum speed!
Servo_SetSpeed(servo_claw, 10); // maximum speed!
Servo_SetSpeed(servo_ramp, 100); // slowly update so ramp doesn't release.
Servo_Rotate(servo_IR, g_IRServoLowered); // it gets in the way
Servo_Rotate(servo_claw, g_clawServoFolded); // servo bracket gets bent
Servo_Rotate(servo_ramp, g_rampServoDefault); // stops ramp from deploying
Motor_SetMaxSpeed(g_FullRegulatedPower);
Motor_ResetEncoder(motor_L);
Motor_ResetEncoder(motor_R);
Motor_ResetEncoder(motor_lift);
// We might not even use this--the operator should have control.
// Uncomment the next lines if the robot burns and crashes.
//// Wait this long so the claw & IR servos get to update.
//// The ramp-release servo shouldn't move; the long update time
//// is to prevent sudden jerks that might release the ramp.
//Time_Wait(10);
return;
}
void initializeRobot()
{
// Sensors are config'ed and setup by RobotC (need to stabalize).
Servo_SetSpeed(servo_IR, 20); // relatively high speed.
Servo_SetSpeed(servo_claw, 20); // relatively high speed.
Servo_SetSpeed(servo_ramp, 0); // ??? Might not work anymore.
Servo_Rotate(servo_IR, g_IRServoLowered); // it gets in the way
Servo_Rotate(servo_claw, g_clawServoFolded); // servo bracket gets bent
Servo_Rotate(servo_ramp, g_rampServoDefault); // stops ramp from deploying
Motor_SetMaxSpeed(g_FullPower);
Motor_ResetEncoder(motor_L);
Motor_ResetEncoder(motor_R);
Motor_ResetEncoder(motor_lift);
bFloatDuringInactiveMotorPWM = false;
return;
}
