void redDevansh() // Places preload (1-2) + 2 buckies (2-4) + TURN LEFT Knocks buckies (1-6) + Places two Balls (2)
{
deploy();
intake(true);
wait10Msec(10);
moveStraight(1, 0, 475);
wait10Msec(50);
moveStraight(-1, 0, 475);
//stopIntake();
lift(BUMP);
holdArm();
waitForButton();
intake(false);
wait10Msec(100);
waitForButton();
resetValues(0);
liftDown();
// end Devansh
waitForButton();
intake(true);
moveStraight(1, 0, (HALF_TILE));
wait10Msec(50);
pickUpBall(1);
spin(-1, 0, 200);
crossBump();
lift(BARRIER);
holdArm();
wait10Msec(30);
moveStraight(1, 0, 550);
intake(false);
// end udit
resetValues(1000);
}
void redUdit()
{
deploy();
intake(true);
wait10Msec(10);
moveStraight(1, 0, 475);
wait10Msec(50);
moveStraight(-1, 0, 475);
//stopIntake();
lift(BUMP);
holdArm();
waitForButton();
intake(false);
wait10Msec(100);
waitForButton();
resetValues(0);
liftDown();
// end Devansh
waitForButton();
intake(true);
moveStraight(1, 0, (HALF_TILE));
wait10Msec(50);
pickUpBall(1);
spin(-1, 0, 200);
crossBump();
lift(BARRIER);
holdArm();
wait10Msec(30);
moveStraight(1, 0, 550);
intake(false);
// end udit
resetValues(1000);
}
void _fmpz_poly_hensel_lift_without_inverse(fmpz *G, fmpz *H,
const fmpz *f, long lenF,
const fmpz *g, long lenG, const fmpz *h, long lenH,
const fmpz *a, long lenA, const fmpz *b, long lenB,
const fmpz_t p, const fmpz_t p1)
{
const fmpz one[1] = {1l};
const long lenM = FLINT_MAX(lenG, lenH);
const long lenE = FLINT_MAX(lenG + lenB - 2, lenH + lenA - 2);
const long lenD = FLINT_MAX(lenE, lenF);
fmpz *C, *D, *E, *M;
C = _fmpz_vec_init(lenF + lenD + lenE + lenM);
D = C + lenF;
E = D + lenD;
M = E + lenE;
if (lenG >= lenH)
_fmpz_poly_mul(C, g,lenG, h, lenH);
else
_fmpz_poly_mul(C, h, lenH, g, lenG);
_fmpz_vec_sub(C, f, C, lenF);
_fmpz_vec_scalar_divexact_fmpz(D, C, lenF, p);
_fmpz_vec_scalar_mod_fmpz(C, D, lenF, p1);
lift(G, g, lenG, b, lenB);
lift(H, h, lenH, a, lenA);
_fmpz_vec_clear(C, lenF + lenD + lenE + lenM);
}
/* Psuedocode
Ramp Forward -> [Cross Barrier] -> Raise Arm HIGH -> Hold Arm HIGH -> Ramp Zero -> [Reach Goal] -> Outtake -> [Finish Outtake]
-> Stop Intake -> Ramp Forward -> Ramp Zero -> [Reach Barrier] -> Lower Arm LOW -> Ramp Backward -> [Reach Square] -> Hard Zero
Wait Until Press -> Raise Arm BARRIER -> Hold Arm BARRIER -> Ramp Forward -> Ramp Zero -> [Reach Barrier] -> Ramp Backward
-> [Reach Square] -> Hard Zero -> Wait Until Press -> Ramp Forward -> Ramp Zero -> [Reach Barrier]
*/
void Alex() // Caches preload (5) + Knocks 2 big balls (10)
{
deploy();
moveStraight(1, 0, 1550); // 1600 is just before goal...changed for some reason
lift(HIGH); // only accurate to the nearest 100... may need to adjust HIGH value
holdArm();
moveStraight(1, 0, 300); // reaches goal
//wait1Msec(1000);
intake(false);
wait1Msec(1000); // outtake
stopIntake();
moveStraight(-1, 0, 400); // move back away from goal...Apparently Safety is greater than move forward
liftDown();
moveStraight(-1, 0, 1500);
waitForButton();
lift(BARRIER);
holdArm();
intake(false);
moveStraight(1, 0, 550); // estimated guess based on 10Q's values - WORKS
wait1Msec(300);
moveStraight(-1, 0, 550);
waitForButton();
moveStraight(1, 0, 950); // A bit of trouble... Not sure if you want to spin rollers for this hit...
wait1Msec(300); // outtaking pushes the ball away + needs good aiming
moveStraight(-1, 0, 950);
resetValues(100);
}
void Alex2() // Knocks 2 big balls (10) then caches preload
{
deploy();
lift(BARRIER);
holdArm();
intake(-1);
moveStraight(1, 0, 580); //estimated guess based on 10Q's values
wait1Msec(300);
//moveStraight(-1, 0, 550);
moveStraight(-1, 0, 580);
waitForButton();
moveStraight(1, 0, 950);
wait1Msec(300);
//moveStraight(-1, 0, 950);
moveStraight(-1, 0, 950);
resetValues(100);
waitForButton();
moveStraight(1, 0, 1420); // maintenence and recalibrating needed
lift(HIGH); // nearest 100
holdArmHigh();
moveStraight(1, 0, 500); // reaches goal
//wait1Msec(1000);
intake(-1);
wait1Msec(500); // outtake
moveStraight(-1, 0, 400); //move back away from goal...Apparently Safety is greater than move forward
motor[LeftArm] = motor[RightArm] = -127;
wait1Msec(800);
motor[LeftArm] = motor[RightArm] = 0;
// end score bucky
moveStraight(-1, 0, 1300); // now user readjust for first ball
}
void redUdit()
{
deploy();
intake(1);
wait10Msec(10);
moveStraight(1, 0, 475); //picks up
wait10Msec(50);
moveStraight(-1, 0, 475);//comes back
//intake(0)();
spin(1, 0, 400);
lift(BUMP);
holdArm();
waitForButton();
intake(-1);
wait10Msec(100);
resetValues(0);
liftDown(); // added
// end Devansh
waitForButton();
intake(1);
moveStraight(1, 0, (HALF_TILE));
wait10Msec(50);
pickUpBall(1);
spin(-1, 0, 200);
crossBump();
lift(BARRIER);
holdArm();
wait10Msec(30);
moveStraight(1, 0, 550);
intake(-1);
// end udit
resetValues(1000);
}
lift90sr ( double pin[size], double Sm[size], double Rm[size], int m )
{
int j, mj, i, N;
double s[size], kemp[size], r[size], pout1[size], pout2[size], temp[size];
for ( j = 1; j <= m / 4; j++ ) {
s[j - 1] = Sm[j - 1];
r[j - 1] = Rm[j - 1];
mj = 2 * j - 1;
kemp[0] = pin[mj - 1];
kemp[1] = pin[mj];
lift ( kemp, s[j - 1], r[j - 1] );
pout1[mj - 1] = pout[0];
pout1[mj] = pout[1];
temp[0] = pin[ ( m / 2 ) + mj - 1];
temp[1] = pin[ ( m / 2 ) + mj];
lift ( temp, s[j - 1], r[j - 1] );
pout2[mj - 1] = ( -1 ) * pout[1];
pout2[mj] = pout[0];
}
for ( i = 0; i < m / 2; i++ )
poutb[i] = pout1[i];
for ( i = m / 2, j = 0; i < m; i++, j++ )
poutb[i] = pout2[j];
}
void blueBrian()
{
moveStraight(1, 0, 1000); // estimate going 2 tiles, under bump perpendicular to barrier
wait10Msec(30); // stableeeeeeeeeeeeeeeee hit ball gently?
spin(-1, 0, 100); // uh... hopefully it doesn't fall out?
//wait10Msec(70); 1 sec stabilization time already incorporated in spin()
lift(HIGH); // uh..
holdArmHigh();
wait10Msec(70);
moveStraight(1, 0, 450);
wait10Msec(70);
intake(-1);
wait10Msec(10); // lol
intake(0);
moveStraight(-1, 0, 200); // lol
intake(-1); // lol
wait10Msec(20);
intake(0);
moveStraight(-1, 0, 250);
resetValues(0);
liftDown();
spin(1, 0, 100);
moveStraight(-1, 0, 1000);
waitForButton();
// end 15 pts
lift(BARRIER);
holdArm();
moveStraight(1, 0, 950);
// end 5 pts, or 20pts total
}
//Deposit the balls into the high goal on the center field structure.
void depositBalls() {
//Jack
//Make lift go up (Below)
lift(36);
wait1Msec(2000);
lift(-36);
}
void redDevansh() // Places preload (1-2) + 2 buckies (2-4) + TURN LEFT Knocks buckies (1-6)
{
deploy();
intake(1);
wait10Msec(10);
moveStraight(1, 0, 455); //picks up
wait10Msec(50);
moveStraight(-1, 0, 475);//comes back
intake(0);
// end part 1: prepare dump
waitForButton();
lift(BUMP);
holdArm();
intake(-1);
resetValues(1200);
// end part 2: dump
waitForButton();
liftDown();
wait10Msec(100);
moveStraight(1, 0, 700);
// end part 3: prepare hit
spin(-1, 0, 200);
intake(-1);
lift(BUMP);
holdArm();
noRamp(1, 250);
resetValues(0);
// end part 4: hit
}
/* Psuedocode
Ramp Forward -> [Cross Barrier] -> Raise Arm HIGH -> Hold Arm HIGH -> Ramp Zero -> [Reach Goal] -> Outtake -> [Finish Outtake]
-> Stop Intake -> Ramp Forward -> Ramp Zero -> [Reach Barrier] -> Lower Arm LOW -> Ramp Backward -> [Reach Square] -> Hard Zero
Wait Until Press -> Raise Arm BARRIER -> Hold Arm BARRIER -> Ramp Forward -> Ramp Zero -> [Reach Barrier] -> Ramp Backward
-> [Reach Square] -> Hard Zero -> Wait Until Press -> Ramp Forward -> Ramp Zero -> [Reach Barrier]
*/
void Alex() // Caches preload (5) + Knocks 2 big balls (10)
{
deploy();
moveStraight(1, 0, 1600); // 1600 is just before goal
lift(HIGH); // nearest 100
holdArm();
moveStraight(1, 0, 300); // reaches goal
//wait1Msec(1000);
intake(-1);
wait1Msec(500); // outtake
intake(0);
moveStraight(-1, 0, 400); //move back away from goal...Apparently Safety is greater than move forward
liftDown();
moveStraight(-1, 0, 1500);
waitForButton();
lift(BARRIER);
holdArm();
intake(-1);
moveStraight(1, 0, 550); //estimated guess based on 10Q's values
wait1Msec(300);
moveStraight(-1, 0, 550);
waitForButton();
moveStraight(1, 0, 950);
wait1Msec(300);
moveStraight(-1, 0, 950);
resetValues(100);
}
// If restricted is true, we don't use (e <-> true) rewrite
list<expr_pair> apply(expr const & e, expr const & H, bool restrited) {
expr c, Hdec, A, arg1, arg2;
if (is_relation(e)) {
return mk_singleton(e, H);
} else if (is_standard(m_env) && is_not(m_env, e, arg1)) {
expr new_e = mk_iff(arg1, mk_false());
expr new_H = mk_app(mk_constant(get_iff_false_intro_name()), arg1, H);
return mk_singleton(new_e, new_H);
} else if (is_standard(m_env) && is_and(e, arg1, arg2)) {
// TODO(Leo): we can extend this trick to any type that has only one constructor
expr H1 = mk_app(mk_constant(get_and_elim_left_name()), arg1, arg2, H);
expr H2 = mk_app(mk_constant(get_and_elim_right_name()), arg1, arg2, H);
auto r1 = apply(arg1, H1, restrited);
auto r2 = apply(arg2, H2, restrited);
return append(r1, r2);
} else if (is_pi(e)) {
// TODO(dhs): keep name?
expr local = m_tctx.mk_tmp_local(binding_domain(e), binding_info(e));
expr new_e = instantiate(binding_body(e), local);
expr new_H = mk_app(H, local);
auto r = apply(new_e, new_H, restrited);
unsigned len = length(r);
if (len == 0) {
return r;
} else if (len == 1 && head(r).first == new_e && head(r).second == new_H) {
return mk_singleton(e, H);
} else {
return lift(local, r);
}
} else if (is_standard(m_env) && is_ite(e, c, Hdec, A, arg1, arg2) && is_prop(e)) {
// TODO(Leo): support HoTT mode if users request
expr not_c = mk_app(mk_constant(get_not_name()), c);
expr Hc = m_tctx.mk_tmp_local(c);
expr Hnc = m_tctx.mk_tmp_local(not_c);
expr H1 = mk_app({mk_constant(get_implies_of_if_pos_name()),
c, arg1, arg2, Hdec, e, Hc});
expr H2 = mk_app({mk_constant(get_implies_of_if_neg_name()),
c, arg1, arg2, Hdec, e, Hnc});
auto r1 = lift(Hc, apply(arg1, H1, restrited));
auto r2 = lift(Hnc, apply(arg2, H2, restrited));
return append(r1, r2);
} else if (!restrited) {
expr new_e = m_tctx.whnf(e);
if (new_e != e) {
if (auto r = apply(new_e, H, true))
return r;
}
if (is_standard(m_env) && is_prop(e)) {
expr new_e = mk_iff(e, mk_true());
expr new_H = mk_app(mk_constant(get_iff_true_intro_name()), e, H);
return mk_singleton(new_e, new_H);
} else {
return list<expr_pair>();
}
} else {
return list<expr_pair>();
}
}
task controllerDrive()
{
while(true)
{
//Right side of the robot is controlled by the right joystick, Y-axis
driveSpeedright(vexRT[Ch2]);
//Left side of the robot is controlled by the left joystick, Y-axis
driveSpeedleft(vexRT[Ch3]);
//The following will control lift
if(vexRT[Btn5U] == 1)
{
lift(127);
}
else if(vexRT[Btn5D] == 1)//Btn 5D goes down
{
lift(-127);
}
else
{
lift(0);
}
//This controls the pneuamtic CLAW.
if(vexRT[Btn6U] == 1) // If button 6U (upper right shoulder button) is pressed:
{
SensorValue[CLAW] = 1;
SensorValue[CLAW] = 1; // ...activate the solenoid.
}
else // If button 6U (upper right shoulder button) is NOT pressed:
{
SensorValue[CLAW] = 0; // ..deactivate the solenoid.
SensorValue[CLAW] = 0;
}
/*
//The following is for the motor CLAW
if(vexRT[Btn6U] == 1) //If Button 6U is pressed...
{
motor[CLAWMotor] = 127; //...close the gripper.
}
else if(vexRT[Btn6D] == 1) //Else, if button 6D is pressed...
{
motor[CLAWMotor] = -127; //...open the gripper.
}
else //Else (neither button is pressed)...
{
motor[CLAWMotor] = 0; //...stop the gripper.
}
*/
}
}
void blueUdit()
{
deploy();
intake(1);
wait10Msec(10);
moveStraight(1, 0, 475); //picks up
wait10Msec(50);
moveStraight(-1, 0, 475);//comes back
//intake(0)();
spin(1, 0, 400);
lift(BUMP);
holdArm();
waitForButton();
intake(-1);
wait10Msec(100);
resetValues(0);
liftDown(); // added
waitForButton();
//liftDown();
// end Devansh
//waitForButton();
intake(1);
moveStraight(1, 0, (HALF_TILE));
wait10Msec(50);
pickUpBall(1);
spin(1, 0, 200);
//crossBump();
lift(BUMP);
nMotorEncoder[LeftMWheel] = 0;
if(true)
{
setRight(127);
wait10Msec(10);
setLeft(127);
}
while (abs(nMotorEncoder[LeftMWheel]) < 500)
{
setRight(127); setLeft(127);
}
setRight(0); setLeft(0);
lift(BARRIER);
holdArm();
wait10Msec(30);
moveStraight(1, 0, 550);
intake(-1);
// end udit
resetValues(1000);
}
//autonomous main
task main()
{
//drives forward until the distance sensor detects that it is 200 mm or closer to the wall
driveWithUltraSonic(460, MOTOR_SPEED);
lift(250);
driveForwardWithEncoder(80, 50, 1000);
setMotorTarget(CLAW_MOTOR, 360, 50);
waitUntilMotorStop(CLAW_MOTOR);
//uses the smart motor as a servo to move the lift motor up
lift(200);
rotate(-175);
driveForwardWithEncoder(955, 50, 2350);
lift(-300);
}
void skills()
{
deploy();
wait10Msec(20);
intakeSlow(1);
moveStraight(1, 0, 430); //picks up
wait10Msec(50);
moveStraight(-1, 0, 430);//comes back
intake(1);
lift(BUMP - 50);
holdArm();
moveStraight(-1,0,700);//hops bump
waitForButton();
liftDown();
intake(0);
waitForButton();
moveStraight(1, 0, 1400); // maintenence and recalibrating needed
wait10Msec(30);
lift(HIGH);
holdArmHigh();
moveStraight(1, 0, 430); // reaches goal
//wait1Msec(1000);
intake(-1);
wait10Msec(150); // outtake
moveStraight(-1, 0, 400); //move back away from goal...Apparently Safety is greater than move forward
lift(LOW);
wait10Msec(50);
intake(0);
// end score bucky
moveStraight(-1, 0, 1400); // now user readjust for first ball
waitForButton();
moveStraight(1,0,600);
spin(1,0,200);
lift(BARRIER);
holdArmHigh();
moveStraight(1, 0, 475);
wait10Msec(40);
moveStraight(-1, 0, 275);
}
task main()
{
while(true)
{
getJoystickSettings(joystick);
if (joy1Btn(5) == 1)
single_main_wheel_fast(joystick.joy1_y2, joystick.joy1_x2);
else
single_main_wheel(joystick.joy1_y2, joystick.joy1_x2);
lift(joystick.joy2_y1);
if (joy2Btn(6) == 1)
winchmove(joystick.joy2_y2);
else motor[winch] = 0;
servo_in(joy2Btn(4));
servo_out(joy2Btn(2));
servo_stop(joy2Btn(3));
/*
servoFlat(joy2Btn(1));
servoDrop(joy2Btn(2));
servoRaise(joy2Btn(4));
servoAngleDown(joy2Btn(3));
*/
flagmove(joystick.joy1_x1);
wait1Msec(TIME_INTERVAL);
}
}
task main()
{
servo[sCubes] = 126;
waitForStart();
while(true)
{
getJoystickSettings(joystick); // Update Buttons and Joysticks
if(!bDisconnected)//makes sure robot is still connected to Samantha
{
sniperCheck();
drive();
flag();
lift();
liftLimit();
winch();
dispenser();
//all of the above code runs the methods that control all the motorized parts of our robot.
wait1Msec(10); //a wait to ensure that multiple signals do not stack and to prevent lag.
}
else
{
motor[Left] = 0;
motor[Right] = 0;
motor[mLift] = 0;
motor[mFlag] = 0;
motor[mWinch1] = motor[mWinch2] = 0;
servo[sCubes] = 126;
}
}
}
void ShadeGraph::generate(GLSLShader& vs, GLSLShader& fs) {
if (outputs.count("gl_Position")) {
CodeNodePtr cn = outputs["gl_Position"];
typedef std::set<ValueNodePtr> ValueNodeSet;
// Add statements.
AssignmentPtr s(new Assignment);
s->define = false;
s->lhs = "gl_Position";
s->rhs = cn;
vs.main->statements.push_back(s);
}
if (outputs.count("gl_FragColor")) {
CodeNodePtr cn = outputs["gl_FragColor"];
// Add statements.
AssignmentPtr s(new Assignment);
s->define = false;
s->lhs = "gl_FragColor";
s->rhs = cn;
fs.main->statements.push_back(s);
}
lift(vs, fs);
declareInputs(vs);
declareInputs(fs);
}
void lift_builtins(World& world) {
// This must be run first
lift_pipeline(world);
while (true) {
Continuation* cur = nullptr;
Scope::for_each(world, [&] (const Scope& scope) {
if (cur) return;
for (auto n : scope.f_cfg().post_order()) {
if (n->continuation()->order() <= 1)
continue;
if (is_passed_to_accelerator(n->continuation(), false)) {
cur = n->continuation();
break;
}
}
});
if (!cur) break;
static const int inline_threshold = 4;
if (is_passed_to_intrinsic(cur, Intrinsic::Vectorize)) {
Scope scope(cur);
force_inline(scope, inline_threshold);
}
Scope scope(cur);
// remove all continuations - they should be top-level functions and can thus be ignored
std::vector<const Def*> defs;
for (auto param : free_defs(scope)) {
if (!param->isa_continuation()) {
assert(param->order() == 0 && "creating a higher-order function");
defs.push_back(param);
}
}
auto lifted = lift(scope, defs);
for (auto use : cur->copy_uses()) {
if (auto ucontinuation = use->isa_continuation()) {
if (auto callee = ucontinuation->callee()->isa_continuation()) {
if (callee->is_intrinsic()) {
auto old_ops = ucontinuation->ops();
Array<const Def*> new_ops(old_ops.size() + defs.size());
std::copy(defs.begin(), defs.end(), std::copy(old_ops.begin(), old_ops.end(), new_ops.begin())); // old ops + former free defs
assert(old_ops[use.index()] == cur);
new_ops[use.index()] = world.global(lifted, false, lifted->debug()); // update to new lifted continuation
// jump to new top-level dummy function with new args
auto fn_type = world.fn_type(Array<const Type*>(new_ops.size()-1, [&] (auto i) { return new_ops[i+1]->type(); }));
auto ncontinuation = world.continuation(fn_type, callee->cc(), callee->intrinsic(), callee->debug());
ucontinuation->jump(ncontinuation, new_ops.skip_front(), ucontinuation->jump_debug());
}
}
}
}
world.cleanup();
}
}
void StandardGraspPerformer::performGrasp(const object_manipulation_msgs::PickupGoal &pickup_goal,
const object_manipulation_msgs::Grasp &grasp,
GraspExecutionInfo &execution_info)
{
execution_info.result_ = approachAndGrasp(pickup_goal, grasp, execution_info);
if (execution_info.result_.result_code != GraspResult::SUCCESS) return;
//check if there is anything in gripper; if not, open gripper and retreat
if (!mechInterface().graspPostureQuery(pickup_goal.arm_name, grasp))
{
ROS_DEBUG_NAMED("manipulation","Hand reports that grasp was not successfully executed; "
"releasing object and retreating");
mechInterface().handPostureGraspAction(pickup_goal.arm_name, grasp,
object_manipulation_msgs::GraspHandPostureExecutionGoal::RELEASE, -1);
retreat(pickup_goal, grasp, execution_info);
execution_info.result_ = Result(GraspResult::GRASP_FAILED, false);
return;
}
//attach object to gripper
if (!pickup_goal.collision_object_name.empty())
{
mechInterface().attachObjectToGripper(pickup_goal.arm_name, pickup_goal.collision_object_name);
}
execution_info.result_ = lift(pickup_goal, grasp, execution_info);
}
int main(){
//auto comp1 = lift([]{ return 100; }).then(f).then(g).then(h);
//auto comp2 = chain([]{ return 100; }, f, g, h);
auto comp1 = lift(f).then(g).then(h);
auto comp2 = chain(f, g, h);
std::cout << comp1(100) << "\n" << comp2(100);
}
void operatorControl() {
lcdInitiate();
while (true){
ch3 = joystickAxes(3);
ch1 = joystickAxes(1);
drive(ch3, ch1);
// lift code
lift();
// pincer code
pincers();
lcd();
delay(100);
if(joystickGetDigital(2,7,JOY_DOWN)){
motorSet(left_lift_Motor1, -127);
delay(2000);
motorSet(left_lift_Motor1, 0);
motorSet(left_lift_Motor2, 127);
delay(2000);
motorSet(left_lift_Motor2, 0);
motorSet(right_lift_Motor3, -127);
delay(2000);
motorSet(right_lift_Motor3, 0);
motorSet(right_lift_Motor4, 127);
delay(2000);
motorSet(right_lift_Motor4, 0);
}
}
}
void AlexAlt() // Caches preload (5) + Knocks 2 big balls (10)
{
deploy();
moveStraight(1, 0, 1600); // maintenence and recalibrating needed
liftTime(1,300);
holdArmHigh();
moveStraight(1, 0, 650); // reaches goal
//wait1Msec(1000);
intake(-1);
wait1Msec(500); // outtake
moveStraight(-1, 0, 400); //move back away from goal...Apparently Safety is greater than move forward
liftDown();
// end score bucky
moveStraight(-1, 0, 1400); // now user readjust for first ball
waitForButton();
lift(BARRIER);
holdArm();
intake(-1);
moveStraight(1, 0, 580); //estimated guess based on 10Q's values
wait1Msec(300);
//moveStraight(-1, 0, 550);
moveStraight(-1, 0, 580);
waitForButton();
moveStraight(1, 0, 950);
wait1Msec(300);
//moveStraight(-1, 0, 950);
moveStraight(-1, 0, 950);
resetValues(100);
}
task main()
{
initializeRobot();
while(true)
{
getJoystickSettings(joystick);
main_wheel(joystick.joy1_x1, joystick.joy1_y1);
lift(joystick.joy2_y1);
if ( joy2Btn(8)==1 )
elevMoveFree(joystick.joy2_y2);
else
elevMove(joystick.joy2_y2);
resetElevEncoder(joy2Btn(3));
servoInitial(joy2Btn(2));
servoAngle (joy2Btn(4));
displayMessage(joy2Btn(1));
wait1Msec(TIME_INTERVAL);
}
}
Foam::scalar Foam::accordionValve::curLift() const
{
return max
(
lift(engineDB_.theta()),
minLift_
);
}
task main()
{
while(true){
//drive();
lift();
//endEffector();
}
}
Foam::scalar Foam::thoboisValve::curLift() const
{
return max
(
lift(engineDB_.theta()),
minLift_
);
}
siglist listLift(const siglist& l)
{
int n = (int)l.size();
siglist r(n);
for(int i = 0; i<n; i++) r[i] = lift(l[i]);
return r;
}
Foam::scalar Foam::dieselEngineValve::curLift() const
{
return max
(
lift(engineDB_.theta()),
minLift_
);
}