task main() // main task
{
initializeRobot(); // calls the "initializeRobot" function
//waitForStart(); // Wait for the beginning of autonomous phase.
accelerateGradually(); // calls the "accelerateGradually" function
while (((nMotorEncoder[LeftFrontDrive] + nMotorEncoder[LeftRearDrive] + nMotorEncoder[RightFrontDrive]
+ nMotorEncoder[RightRearDrive]) / 4) < ticksToTravel) // repeat this section of code (do not continue sequential
// execution) until the average of all four motor values is greater than the target number of ticks to move,
// calculated from the specified number of feet to move.
{
moveAllMotors(100); // Calls the "moveAllMotors" function, passing the value 100
}
moveAllMotors(-100); // sets all the motors to 50% power backwards, to brake the motors and the robot from
// gliding further forward
wait10Msec(20); // waits 200 milliseconds (0.200 seconds)
moveAllMotors(0); // sets all the motors to 0% power (off)
} // end of main function, end of program
void accelerateGradually() // Accelerates gradually from 0 to 95% power in 0.525 seconds, to keep wheels from
// slipping and throwing off the encoder values
{
for(int i = 1; i <= 21; i++)
{
moveAllMotors(i * 4.7);
wait1Msec(25);
} // end of the for loop
} // end of the "accelerateGradually" function
void BigPuppyController::onStep(BigPuppy& subject, double dt){
// Update controller's internal time
if (dt <= 0.0) { throw std::invalid_argument("dt is not positive"); }
m_totalTime+=dt;
setBicepTargetLength(subject, dt);
setFrontTricepTargetLength(subject, dt);
setRearTricepTargetLength(subject, dt);
setLegToAbdomenTargetLength(subject, dt);
setRightShoulderTargetLength(subject, dt);
moveAllMotors(subject, dt);
}
