task main() { //waitForStart(); LineUp(); /*Tests*/ GoToIR(); bool LightGoDown = false; if(SensorValue[Sensei] == 1) { LightGoDown = true; } MoveBackwards(0.1,50); while(LightGoDown) { LineDown(); FollowLine(); if(AtObject()) { break; } } LineUp(); //testMovement(); }
/*----------------------------------------------------------------------------*/ void BlueAuto2(void) { ///4 PRELOADS 3 PILE /// STARTING TYLE IS FURTHERST TYLE int YouAreGoodToCount = 0; Transmission(1); BallCounter = 4; ShootingMode = 1; IntakeShoot(6000);//SHOOT 4 PRELOADS // * FAILSAFE POINT ShootingMode = 4; DistanceCalculatorTurn(1); while(DistanceCalculatorTurn(0) < 15) //*FAILSE WHAT IF WE GET OFF THE LINE ( WHAT IF ROBOT BLOCKS PATH AND WE ARE STILL ON THE LINE) { Move(-1, 50); } Break2(100,-10); delay(200); stage = 1; SetRPM(2200); DistanceCalculator(1); while(DistanceCalculator(0) < 12) //*FAILSE WHAT IF WE GET OFF THE LINE ( WHAT IF ROBOT BLOCKS PATH AND WE ARE STILL ON THE LINE) { Move(2, 127); } clearTimer(T3); while(SensorValue[IR1] == 1 ) //*FAILSE WHAT IF WE GET OFF THE LINE ( WHAT IF ROBOT BLOCKS PATH AND WE ARE STILL ON THE LINE) { IntakeOnAuto(); Move(2, 20); if(time1[T3] > 6000) { FailSafeEngaged = 1; break; } } if(FailSafeEngaged == 1)Blue1Fail1();/////////////////////RED1FAIL1 IntakePower(0); Break(100,10); while(MoveDist(-1, 20,0) == 1) // DO WE NEED FAILSAFE HERE? { IntakeOnAuto(); } while(MoveDist(35, 40,3000) == 1)//17 // DO WE NEED FAILSAFE HERE? { IntakeOnAuto(); if(FailSafeEngaged == 1)Blue1FailInfinite();/////////////////////RED1FAIL1 } IntakePower(0); while(LineStatus() == 0) { Move(-2, 100); } Break(100,-10); while(MoveDist(3, 30,0) == 1); delay(200); SetRPM(2200); while(LineStatus() == 0) //TURN UNTIL YOU SEE THE LINE { Move(1, 20); } DistanceCalculator(1); while(LineStatus() == 1) //*FAILSE WHAT IF WE GET OFF THE LINE ( WHAT IF ROBOT BLOCKS PATH AND WE ARE STILL ON THE LINE) { FollowLine(40); if(LineStatusOffset() == 1) { DistanceCalculator(1); YouAreGoodToCount = 1; } if(DistanceCalculator(0) > 18 && YouAreGoodToCount == 1) { DistanceCalculator(1); break; } } if(DistanceCalculator(0) < 50 && YouAreGoodToCount == 0)Blue1FailInfinite();//**FAIL GOOD Break(100,20); delay(500); IntakePower(127);///SHOT FIRST PILE delay(3000); ShootingMode = 3; StopDrive(); stage = 1; DistanceCalculator(1); while(SensorValue[IR1] == 1 && LineStatus() == 1) //*FAILSE WHAT IF WE GET OFF THE LINE ( WHAT IF ROBOT BLOCKS PATH AND WE ARE STILL ON THE LINE) { FollowLine(35); IntakeOnAuto(); } Break(100,20); StopDrive(); clearTimer(T3); while(stage == 1) // WHAT IF TWO BALLS ARE STUCK FOREVER? TIMER? { if(time1[T3] > 10000) { break; } IntakeOnAuto(); } clearTimer(T3); while(LineStatus() == 1 && DistanceCalculator(0) < 37 )//*FAILSE WHAT IF WE GET OFF THE LINE ( WHAT IF ROBOT BLOCKS PATH AND WE ARE STILL ON THE LINE) { FollowLine(35); IntakeOnAuto(); if(time1[T3] > 10000) { break; } } MoveTime(500,127); StopDrive(); delay(500); IntakePower(127);///SHOT BAR SHOTS delay(3500); IntakePower(0); SetRPM(2200); stage = 1; //////////////////////////////////////////////////////SHOT 8 COMPLETE DistanceCalculator(1); while(DistanceCalculator(0) < 50) //*FAILSE WHAT IF WE GET OFF THE LINE ( WHAT IF ROBOT BLOCKS PATH AND WE ARE STILL ON THE LINE) { Move(-2, 127); } Break(200,-15); delay(200); DistanceCalculatorTurn(1); clearTimer(T3); while(DistanceCalculatorTurn(0) < 62) //*FAILSE WHAT IF WE GET OFF THE LINE ( WHAT IF ROBOT BLOCKS PATH AND WE ARE STILL ON THE LINE) { Move(-1, 100); if(time1[T3] > 5000) { FailSafeEngaged = 1; break; } } if(FailSafeEngaged == 1)Blue1FailInfinite(); Break2(100,10); delay(300); DistanceCalculator(1); clearTimer(T3); while(DistanceCalculator(0) < 24) //*FAILSE WHAT IF WE GET OFF THE LINE ( WHAT IF ROBOT BLOCKS PATH AND WE ARE STILL ON THE LINE) { Move(2, 127); if(time1[T3] > 5000) { FailSafeEngaged = 1; break; } } if(FailSafeEngaged == 1)Blue1FailInfinite(); clearTimer(T3); while(SensorValue[IR1] == 1 )//PILE BY THE WALL { IntakeOnAuto(); Move(2, 20); if(time1[T3] > 5000) { FailSafeEngaged = 1; break; } } if(FailSafeEngaged == 1)Blue1FailInfinite(); IntakePower(0); Break(100,10); while(MoveDist(-1, 20,0) == 1) // DO WE NEED FAILSAFE HERE? { IntakeOnAuto(); } while(MoveDist(19, 35,2000) == 1) // DO WE NEED FAILSAFE HERE? { IntakeOnAuto(); } IntakePower(0); ///////////////////////////////////////////////////////////////////////////////////PICK UP 3RD SetRPM(2200); clearTimer(T3); while(LineStatus() == 0 ) { Move(-2, 127); if(time1[T3] > 5000) { FailSafeEngaged = 1; break; } } if(FailSafeEngaged == 1)Blue1FailInfinite(); //**FAIL GOOD Break(200,-15); while(MoveDist(3, 40,0) == 1); clearTimer(T3); while(LineStatus() == 0) // TURN UNTILL IT SEES LINE (WHAT IF WE NEVER SEE LINE) { Move(1,22); if(time1[T3] > 5000) { FailSafeEngaged = 1; break; } } if(FailSafeEngaged == 1)Blue1FailInfinite(); //**FAIL GOOD DistanceCalculator(1); clearTimer(T3); while(LineStatus() == 1 && DistanceCalculator(0) < 12)//*FAILSE WHAT IF WE GET OFF THE LINE ( WHAT IF ROBOT BLOCKS PATH AND WE ARE STILL ON THE LINE) { FollowLine(35); if(time1[T3] > 5000) { FailSafeEngaged = 1; break; } } if(FailSafeEngaged == 1)Blue1FailInfinite(); //**FAIL GOOD Break(100,20); StopDrive(); delay(500); IntakePower(127);///SHOT LAST BALLS BAR SHOTS delay(3000); TurnDegree(-45,100,2000); while(MoveDist(24, 40,0) == 1); ShootingMode = 4; KillALL(); while(1); }
int main(void) { Initialize(); timer_start(TIMER_TEMP, TIMER_TEMP_DELAY); timer_start(TIMER_LCD, TIMER_LCD_DELAY); timer_start(TIMER_TURN90, TIMER_TURN90_DELAY); timer_start(TIMER_RECULE, TIMER_RECULE_DELAY); /* u08 tempmic; while (!GetMicValLuca(LEVELMIC, &tempmic)) { snprintf(str_l1, LCD_SIZE, "%02x - %02x", tempmic, LEVELMIC); }*/ int nb_s = 0; while (1) { timer_handle(); //Check switches if (TactSWModuleCtrl(BUTTON_SLOT, BUTTON_STARTSTOP)) { while (TactSWModuleCtrl(BUTTON_SLOT, BUTTON_STARTSTOP)); if (!enable) { enable = 1; } else { enable = 0; } } if (enable) { if (TactSWModuleCtrl(BUTTON_SLOT, BUTTON_MODESEL)) { while (TactSWModuleCtrl(BUTTON_SLOT, BUTTON_MODESEL)); mode++; mode %= 3; } } if (TactSWModuleCtrl(BUTTON_SLOT, BUTTON_VAL)) { while (TactSWModuleCtrl(BUTTON_SLOT, BUTTON_VAL)); val_buttons++; val_buttons %= MAX_SPEED; } if (enable) { switch (mode) { case MODE_LINE: FollowLine(); break; case MODE_SUMO: StayInside(); break; case MODE_CARRE: DoCarre(); break; } } else { //Stop AVANCE(0); } //Test the timer if (timer_complete(TIMER_TEMP)) { timer_start(TIMER_TEMP, 500); nb_s ++; //snprintf(str_l1, LCD_SIZE, "%d", nb_s); } if (timer_complete(TIMER_LCD)) { if (!enable) { snprintf(str_l1, LCD_SIZE, "off"); } else { char mode_str[20]; switch (mode) { case MODE_LINE: snprintf(mode_str, LCD_SIZE, "line"); break; case MODE_SUMO: snprintf(mode_str, LCD_SIZE, "sumo"); break; case MODE_CARRE: snprintf(mode_str, LCD_SIZE, "carr"); break; default: snprintf(mode_str, LCD_SIZE, "????"); break; } snprintf(str_l1, LCD_SIZE, "%s %02d ", mode_str, val_buttons); } timer_start(TIMER_LCD, TIMER_LCD_DELAY); lcd_str_out(1,1, str_l1); lcd_str_out(2,1, str_l2); } } return 0; }
void RedAuto1(void) { int Launch = 0; Transmission(1); BallCounter = 4; ShootingMode = 1; IntakeShoot(6000);//SHOOT 4 PRELOADS // * FAILSAFE POINT ShootingMode = 4; stage = 1; TurnDegree(-10,40,0); // DO WE NEED FAILSAFE HERE? delay(200); Move(2,127); delay(500); clearTimer(T3); while(SensorValue[IR1] == 1) //*FAILSAFE ?WHAT IF WE DONT SEE ANY BALLS { IntakeOnAuto(); Move(2,20); if(time1[T3] > 8000) { FailSafeEngaged = 1; break; } } if(FailSafeEngaged == 1)Red1Fail1();/////////////////////RED1FAIL1 IntakePower(0); Break(100,10); while(MoveDist(-1, 20,0) == 1) // DO WE NEED FAILSAFE HERE? { IntakeOnAuto(); } while(MoveDist(40, 50,0) == 1) //*FAILSAFE ?WHAT IF WE ARE BLOCKED (ROBOT FINISHED ABOUT MID COURT) { if(FailSafeEngaged == 1)Red1Fail1();/////////////////////RED1FAIL1 IntakeOnAuto(); } IntakePower(0); TurnDegree(-45,127,2000); //*FAILSAFE ?WHAT IF WE ARE BLOCKED if(FailSafeEngaged == 1)Red1FailInfinite(); delay(200); SetRPM(2250);//LAUNCHER ON (NEXT SHOOTING RPM) clearTimer(T3); while(LineStatus() == 0) //*FAILSAFE AT WHAT POINT DO WE STOP MOVING? WHAT IF WE ARE OF COURSE? { Move(-2,30); if(time1[T3] > 3500) { FailSafeEngaged = 1; break; } } if(FailSafeEngaged == 1)Red1FailInfinite(); Break(100,-20); delay(200); while(MoveDist(7, 30,0) == 1){} // DO WE NEED FAILSAFE HERE? clearTimer(T3); while(LineStatus() == 0) // TURN UNTILL IT SEES LINE (WHAT IF WE NEVER SEE LINE) { Move(1,22); if(time1[T3] > 3000) { FailSafeEngaged = 1; break; } } if(FailSafeEngaged == 1)Red1FailInfinite(); while(LineStatus() == 1 && LineStatusOffset() == 0) //*FAILSE WHAT IF WE GET OFF THE LINE ( WHAT IF ROBOT BLOCKS PATH AND WE ARE STILL ON THE LINE) { FollowLine(40); if(LineStatus() == 1 && LineStatusOffset() == 1) Launch = 1;//WE REACHED THE CROSS(MIDDLE OF FIELD SET FLAG } if(LineStatus() == 1 && LineStatusOffset() == 1) Launch = 1; Break(100,20); StopDrive(); delay(300); if(Launch) //IF LAUNCH FLAG WAS SATISFIED EARLIER THEN WE CAN LAUNCH BALLS { IntakePower(127); // SHOOT MID COURT delay(3000); } stage = 1; ShootingMode = 3; DistanceCalculator(1); while(SensorValue[IR1] == 1 && LineStatus() == 1 && DistanceCalculator(0) < 55) //*FAILSE WHAT IF WE GET OFF THE LINE ( WHAT IF ROBOT BLOCKS PATH AND WE ARE STILL ON THE LINE) { FollowLine(35); IntakeOnAuto(); } Break(100,20); StopDrive(); while(stage == 1) // WHAT IF TWO BALLS ARE STUCK FOREVER? TIMER? { IntakeOnAuto(); } while(LineStatus() == 1 && DistanceCalculator(0) < 55)//*FAILSE WHAT IF WE GET OFF THE LINE ( WHAT IF ROBOT BLOCKS PATH AND WE ARE STILL ON THE LINE) { FollowLine(35); IntakeOnAuto(); } MoveTime(300,127); StopDrive(); IntakePower(127);///SHOT LAST BALLS BAR SHOTS delay(4000); stage = 1; /////////// KillALL(); while(1); }