Exemplo n.º 1
0
task autonomous() {
	// Autonomous

	setIntakeSpeed(127);				//drop buckie ball

	setArmSpeed(100);
	wait1Msec(1000);
	setArmSpeed(5);

	driveArcade(70,0);					//drive forward
	wait1Msec(1100);
	driveArcade(0,0);

	setIntakeSpeed(0);
	setArmSpeed(20);

	wait1Msec(1000);

	driveArcade(-70,0);				//drive back
	wait1Msec(1200);
	driveArcade(0,0);

	wait1Msec(5000);

	driveArcade(70,0);					//drive forward
	wait1Msec(1300);
	driveArcade(0,0);

	wait1Msec(1000);

	driveArcade(-70,0);				//drive back
	wait1Msec(1300);
	driveArcade(0,0);
}
void simpleAutoIntake(int cycles){
	for (int i =0; i< cycles; i++){
		delay(1000);
		setIntakeSpeed(100);
		delay(1000);
		setIntakeSpeed(0);
	}
}
Exemplo n.º 3
0
task usercontrol() {
	// User control initialization
	while (true) { // User control loop
	  int driveX = scaleInput(vexRT[Ch4]);
	  int driveY = scaleInput(vexRT[Ch3]);
	  int armSpeed = vexRT[Ch2];
	  int intakeSpeed = 127*((vexRT[Btn5U]|vexRT[Btn5D])-(vexRT[Btn6U]|vexRT[Btn6D]));
/*		string potenString, gyroString;
s		sprintf(potenString, "%3f%c", SensorValue[poten]);
		sprintf(gyroString, "%3f%c", SensorValue[gyro]);
		displayString(potenString, gyroString);*/

		if (SensorValue[poten] > ARMAX) armSpeed = 0; // Limit the Poten from dying.

		driveX = turnPID.enabled ? calculate(turnPID, SensorValue[gyro]) : driveX;
		armSpeed = armPID.enabled ? calculate(armPID, SensorValue[poten]) : armSpeed;

		if (abs(driveY) < 5) driveY = 0; // Deadband
		if (abs(driveX) < 5) driveX = 0;

	  driveArcade(driveY, driveX);
	  setArmSpeed(armSpeed);
	  setIntakeSpeed(intakeSpeed);
	}
}
Exemplo n.º 4
0
void intakeAction(void *param) {
  int iterations = 0;
  while (!isIntakeReady() && (iterations++ < (intakeBreakout / 10))) {
    setIntakeSpeed(pLoopDetermineIntakeSpeed());
    delay(10);
  }
  intakeDone = true;
}