void initializeRobot() { // Sensors are config'ed and setup by RobotC (need to stabalize). Servo_SetSpeed(servo_IR, 10); // maximum speed! Servo_SetSpeed(servo_claw, 10); // maximum speed! Servo_SetSpeed(servo_ramp, 100); // slowly update so ramp doesn't release. Servo_Rotate(servo_IR, g_IRServoExtended); // will fold back up in tele-op Servo_Rotate(servo_claw, g_clawServoExtended); // will be folded in tele-op Servo_Rotate(servo_ramp, g_rampServoDefault); // stops ramp from deploying Motor_SetMaxSpeed(g_FullRegulatedPower); Motor_ResetEncoder(motor_L); Motor_ResetEncoder(motor_R); Motor_ResetEncoder(motor_lift); // Wait this long so the claw & IR servos get to update. // The ramp-release servo shouldn't move; the long update time // is to prevent sudden jerks that might release the ramp. // We don't need to wait for the IR sensor to stabalize since // the robot doesn't read from it until it's at the first column, // which should be ample time for RobotC to setup the sensor. Time_Wait(10); return; }
void initializeRobot() { // Sensors are config'ed and setup by RobotC (need to stabalize). Servo_SetSpeed(servo_IR, 10); // maximum speed! Servo_SetSpeed(servo_claw, 10); // maximum speed! Servo_SetSpeed(servo_ramp, 100); // slowly update so ramp doesn't release. Servo_Rotate(servo_IR, g_IRServoLowered); // it gets in the way Servo_Rotate(servo_claw, g_clawServoFolded); // servo bracket gets bent Servo_Rotate(servo_ramp, g_rampServoDefault); // stops ramp from deploying Motor_SetMaxSpeed(g_FullRegulatedPower); Motor_ResetEncoder(motor_L); Motor_ResetEncoder(motor_R); Motor_ResetEncoder(motor_lift); // We might not even use this--the operator should have control. // Uncomment the next lines if the robot burns and crashes. //// Wait this long so the claw & IR servos get to update. //// The ramp-release servo shouldn't move; the long update time //// is to prevent sudden jerks that might release the ramp. //Time_Wait(10); return; }
void initializeRobot() { // Sensors are config'ed and setup by RobotC (need to stabalize). Servo_SetSpeed(servo_IR, 20); // relatively high speed. Servo_SetSpeed(servo_claw, 20); // relatively high speed. Servo_SetSpeed(servo_ramp, 0); // ??? Might not work anymore. Servo_Rotate(servo_IR, g_IRServoLowered); // it gets in the way Servo_Rotate(servo_claw, g_clawServoFolded); // servo bracket gets bent Servo_Rotate(servo_ramp, g_rampServoDefault); // stops ramp from deploying Motor_SetMaxSpeed(g_FullPower); Motor_ResetEncoder(motor_L); Motor_ResetEncoder(motor_R); Motor_ResetEncoder(motor_lift); bFloatDuringInactiveMotorPWM = false; return; }