task main()
{
int timeToWait = requestTimeToWait();
initializeRobot();
waitForStart();
disableDiagnosticsDisplay();
//Initialize the gyro and turning
GyroInit(g_Gyro, gyro, 0);
PidTurnInit(g_PidTurn, leftDrive, rightDrive, MIN_TURN_POWER, g_Gyro, TURN_KP, TURN_TOLERANCE);
countdown(timeToWait);
//Start actual movement code
moveForwardInches(60,43);//initial forwards
turn(g_PidTurn,45,20);
clearEncoders();
wait1Msec(50);
const int totalTics = 6806;//total tics from before IR to end- CHANGED FOR LESSENED AMOUNT OF FORWARDS
const int ticsToCenter = 3663;//tics from start to central beam
const int ticsToSubtract = 1665;//failsafe, may still need testing
//finding IR
while(HTIRS2readACDir(IR) != 4 && (abs(nMotorEncoder[leftDrive]) < totalTics - ticsToSubtract)){ //finds the beacon zone 4 (rough)
//nxtDisplayCenteredTextLine(5,"Direction:%d",HTIRS2readACDir(IR));
startBackward(27);
}
stopDrive();
wait1Msec(300);
while(HTIRS2readACDir(IR) != 5 && (abs(nMotorEncoder[leftDrive]) < totalTics - ticsToSubtract)){ //slow down to look for basket (fine)
startForward(15);
}
int currentPosition = abs(nMotorEncoder[leftDrive]);
if (currentPosition > ticsToCenter)//check where we are
moveForwardInchesNoReset(20, 6);//move forwards 5 inches (buckets 1 and 2)
else
moveForwardInchesNoReset(20, 3);//forwards 3 inches (buckets 3 and 4)
stopDrive();//stops robot
servo[dumper] = 30;//dumps the block
motor[lift]= 50;//starts the lift up
wait1Msec(700);
motor[lift]= 0;//stops lift
servo[dumper] = servoRestPosition;//resets servo
int ticsToMove= totalTics - abs(nMotorEncoder[leftDrive]);//tics left after IR
displayCenteredTextLine(0,"TTM: %d", ticsToMove);
moveBackwardTics(90, ticsToMove); //move to end after IR
turn(g_PidTurn, -87,40); //turn to go towards ramp
moveForwardInches(90, 44, false, LEFTENCODER); //forwards to ramp
turn(g_PidTurn, 95, 40); //turn to face ramp
moveForwardInches(90, 45, false, LEFTENCODER);//onto ramp
motor[lift]= -50;//starts the lift down
wait1Msec(500);
motor[lift]= 0;//stops lift
while(true){}
}
GlPictureFlow::GlPictureFlow(GlObject* parent) : GlObject(parent)
{
setGeometry(0,0,800,300);
setPercent(0);
for_backward = &GlPictureFlow::draw_forward;
buttonLeft = new GlButton(this);
buttonLeft->setGeometry(280,270,60,30);
buttonLeft->setBackGroundPixmap(QPixmap(":/images/pictureFlowLeft.png"));
buttonLeft->setBackGroundPixmapPressed(QPixmap(":/images/pictureFlowLeftPressed.png"));
buttonLeft->setText("<");
connect(buttonLeft, SIGNAL(clicked()), this, SLOT(startForward()));
buttonRigth = new GlButton(this);
buttonRigth->setGeometry(460,270,60,30);
buttonRigth->setBackGroundPixmap(QPixmap(":/images/pictureFlowRigth.png"));
buttonRigth->setBackGroundPixmapPressed(QPixmap(":/images/pictureFlowRigthPressed.png"));
buttonRigth->setText(">");
connect(buttonRigth, SIGNAL(clicked()), this, SLOT(startBackward()));
buttonTracks = new GlButton(this);
buttonTracks->setGeometry(340,270,120,30);
buttonTracks->setBackGroundPixmap(QPixmap(":/images/button120.png"));
buttonTracks->setBackGroundPixmapPressed(QPixmap(":/images/button120Pressed.png"));
buttonTracks->setText("Tracks");
connect(buttonTracks, SIGNAL(clicked()), this, SIGNAL(buttonTracks_Clicked()));
timeLine = new QTimeLine(350, this);
timeLine->setLoopCount(1);
timeLine->setFrameRange(0, 100);
timeLine->setCurveShape(QTimeLine::EaseInCurve);
connect(timeLine, SIGNAL(frameChanged(int)), this, SLOT(newPercent(int)));
connect(timeLine, SIGNAL(finished()), this, SLOT(done()));
distShort = 50;
distLong = 150;
sizeSmall = 130;
sizeBig = 150;
pt0.setX(50); pt0.setY(150);
pt1.setX(100); pt1.setY(150);
pt2.setX(150); pt2.setY(150);
pt3.setX(200); pt3.setY(150);
pt4.setX(250); pt4.setY(150);
pt5.setX(400); pt5.setY(150);
pt6.setX(750); pt6.setY(150);
pt7.setX(700); pt7.setY(150);
pt8.setX(650); pt8.setY(150);
pt9.setX(600); pt9.setY(150);
pt10.setX(550); pt10.setY(150);
pt11.setX(400); pt11.setY(150);
}
