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drivetrain.driveFor(forward, DISTANCE, inches);
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Drive forward for a specific distance.
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drivetrain.driveFor(reverse, DISTANCE, inches);
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Drive backward for a specific distance.
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drivetrain.turnFor(left, DEGREES, degrees);
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Turn left a specific number of degrees.
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drivetrain.turnFor(right, DEGREES, degrees);
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Turn right a specific number of degrees.
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motor1.spin(forward, SPEED, rpm);
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Spin motor at a specific speed.
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motor1.spin(reverse, SPEED, rpm);
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Reverse motor at a specific speed.
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drivetrain.stop();
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Stop the drivetrain.
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armMotor.spin(forward); wait(DURATION, seconds); armMotor.stop();
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Lift arm for a specific duration.
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while(inertialSensor.heading(degrees) < ANGLE) { drivetrain.turn(left); } drivetrain.stop();
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Rotate using inertial sensor to a specific angle to the left.
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while(inertialSensor.heading(degrees) > ANGLE) { drivetrain.turn(right); } drivetrain.stop();
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Rotate using inertial sensor to a specific angle to the right.
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flywheelMotor.spin(forward, VELOCITY, velocityUnits::rpm);
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Spin the flywheel at a specific velocity.
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flywheelMotor.stop();
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Stop the flywheel.
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intakeMotor.spin(forward, SPEED, velocityUnits::pct);
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Run the intake forward.
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intakeMotor.spin(reverse, SPEED, velocityUnits::pct);
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Reverse the intake.
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intakeMotor.stop();
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Stop the intake.
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matchLoaderMotor.spin(forward, SPEED, velocityUnits::pct); wait(DURATION, seconds); matchLoaderMotor.stop();
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Activate the match loader to load a ball.
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piston.set(true);
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Extend a piston to push an object.
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piston.set(false);
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Retract a piston.
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piston.toggle();
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Toggle a piston's state.
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flywheelMotor.spin(forward, VELOCITY, velocityUnits::rpm); wait(DURATION, seconds); flywheelMotor.stop();
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Run the flywheel for a specific duration then stop.
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intakeMotor.spin(forward, INTAKE_SPEED, velocityUnits::pct); matchLoaderMotor.spin(forward, LOADER_SPEED, velocityUnits::pct);
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Spin the intake and match loader simultaneously to intake and load.
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inertialSensor.calibrate(); while(inertialSensor.isCalibrating()) { wait(100, msec); }
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Calibrate the inertial sensor.
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drivetrain.setVelocity(SPEED, velocityUnits::pct);
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Set the drivetrain velocity to a specific value.
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flywheelMotor.setVelocity(LONG_DISTANCE_SPEED, velocityUnits::rpm); flywheelMotor.spin(forward);
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Set the flywheel velocity for a long-distance shot.
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flywheelMotor.setVelocity(SHORT_DISTANCE_SPEED, velocityUnits::rpm); flywheelMotor.spin(forward);
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Set the flywheel velocity for a short-distance shot.
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