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while (calibrateTimer < 200) { |
if (!Inertial.isCalibrating()) { |
printControllerSetup(); |
Controller1.Screen.print("Recalibrated"); |
break; |
} |
calibrateTimer++; |
wait (20, msec); |
} |
} |
void setLeftDrive(int velocity1) { |
Left1.setVelocity(velocity1, percent); |
Left2.setVelocity(velocity1, percent); |
Left3.setVelocity(velocity1, percent); |
} |
void setRightDrive(int velocity1) { |
Right1.setVelocity(velocity1, percent); |
Right2.setVelocity(velocity1, percent); |
Right3.setVelocity(velocity1, percent); |
} |
void buttonRightPressed() { |
//Automatically balance the robot |
ElevationPiston.set(true); |
auton = true; |
Left1.spin(forward); |
Left2.spin(forward); |
Left3.spin(forward); |
Right1.spin(forward); |
Right2.spin(forward); |
Right3.spin(forward); |
setLeftDrive(90); |
setRightDrive(90); |
wait(200, msec); |
setLeftDrive(40); |
setRightDrive(50); |
wait(400, msec); |
setLeftDrive(40); |
setRightDrive(-80); |
wait(200, msec); |
Left1.stop(); |
Left2.stop(); |
Left3.stop(); |
Right1.stop(); |
Right2.stop(); |
Right3.stop(); |
auton = false; |
} |
void checkOverheating() { |
//check for overheating in any of the motors |
if (Left1.temperature(percent) > 60 || Left2.temperature(percent) > 60 || Left3.temperature(percent) > 60 || Right1.temperature(percent) > 60 || Right2.temperature(percent) > 60 || Right3.temperature(percent) > 60 || Kicker.temperature(percent) > 60) { |
if (overHeatingTimer == 0) { |
Controller1.rumble(rumbleLong); |
printControllerSetup(); |
Controller1.Screen.print("Real Overheating Warning"); |
overHeatingTimer++; |
} else { |
overHeatingTimer++; |
if (overHeatingTimer > 750) overHeatingTimer = 0; |
} |
} |
} |
int kickerLoop() { |
//shoot the kicker when there is a triball and keep it loaded at all times |
bool reachedBottom = false; |
while (true) { |
//check if it is optical sensor mode |
wait(20, msec); |
if (kickerOn) { |
KickerLED.on(); |
if (KickerDrawback.objectDistance(mm) < 90) { |
if (KickerDistanceSensor.objectDistance(mm) < 40) { |
//triball detected |
Kicker.spin(reverse, 11, volt); |
} else { |
//no triball detected |
Kicker.stop(); |
} |
reachedBottom = true; |
} else { |
Kicker.spin(reverse, 11, volt); |
reachedBottom = false; |
} |
} else { |
Kicker.stop(); |
KickerLED.off(); |
} |
} |
return 0; |
} |
int intakeLoop() { |
//spin at 3 volts when the efficency is 0 |
while (true) { |
//check if the intake is on |
wait(20, msec); |
if (intakeOn) { |
if (Intake.efficiency(percent) < 10) { |
//if the intake is on and efficency is low, there is likely a triball in there; reduce the voltage to lower strain on the motor |
Intake.spin(reverse, 2, volt); |
} else { |
//otherwise, spin normally |