 | Quote: #pragma config(Hubs, S1, HTMotor, HTServo, HTMotor, none)
#pragma config(Sensor, S1, , sensorI2CMuxController)
#pragma config(Sensor, S2, touch, sensorNone)
#pragma config(Sensor, S3, light, sensorNone)
#pragma config(Sensor, S4, IR, sensorHiTechnicIRSeeker600)
#pragma config(Motor, motorA, Claw, tmotorNXT, PIDControl)
#pragma config(Motor, motorB, Arm, tmotorNXT, PIDControl, encoder)
#pragma config(Motor, mtr_S1_C1_1, driveL, tmotorTetrix, openLoop, reversed)
#pragma config(Motor, mtr_S1_C1_2, driveR, tmotorTetrix, openLoop)
#pragma config(Motor, mtr_S1_C3_1, Lift1, tmotorTetrix, openLoop, reversed)
#pragma config(Motor, mtr_S1_C3_2, Lift2, tmotorTetrix, openLoop)
#pragma config(Servo, srvo_S1_C2_1, Susan, tServoStandard)
#pragma config(Servo, srvo_S1_C2_2, Bar, tServoContinuousRotation)
#pragma config(Servo, srvo_S1_C2_3, servo3, tServoNone)
#pragma config(Servo, srvo_S1_C2_4, servo4, tServoNone)
#pragma config(Servo, srvo_S1_C2_5, servo5, tServoNone)
#pragma config(Servo, srvo_S1_C2_6, servo6, tServoNone)
//*!!Code automatically generated by 'ROBOTC' configuration wizard !!*//
#include "JoystickDriver.c" //Joystick's In Program + bluetooth messages.
void joystickstart (int joy1_y2, int joy1_x2)
{
servo[Susan] = 140; // Puts Servo in its neutral
return;
}
task main()
{
bFloatDuringInactiveMotorPWM = false;
waitForStart(); // wait for start of tele-op phase
int b = 10;// Prevents twitching
int w = -10;
int a = ServoValue [Susan];// Assigns a variable to servo-+
int z = ServoValue [Bar];
servoChangeRate[Bar] = 6;
servoChangeRate[Susan] = 5;// Slows servo down to prevent servo from burning out or break.
while(1 == 1) // Repeats forever.
{
getJoystickSettings(joystick); // Gets Joystick settings
if((joy1_y2 > 15) && (joy1_x2 < 40) && (joy1_x2 > -40))//joy1_ 2 Driver joysztick on the right.
{
motor[driveL] = joy1_y2;
motor[driveR] = joy1_y2;
}
else
{
motor[driveR] = 0;
motor[driveL] = 0; // Says if you have joystick backward then the robot moves backward
}
if((joy1_y2 < 50) && (joy1_x2 > -40) && (joy1_x2 < 40))
{
motor[driveR] = -joy1_y2;
motor[driveL] = joy1_y2;
}
else
{
motor[driveR] = 0;
motor[driveL] = 0; // If you have joystick to the right then the robot will go forward otherwise it'll stop.
}
if((joy1_y2 < -50) && (joy1_x2 > -40) && (joy1_x2 < 40))
{
motor[driveR] = joy1_y2;
motor[driveL] = -joy1_y2;
}
else
{
motor[driveR] = 0;
motor[driveL] = 0; // If you have joystick to the right then the robot will go forward otherwise it'll stop.
}
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
// Drivers Remote is all done being programmed. Everything from this point is going to be the Attatchment Controller://
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
if ((joystick.joy2_y2) > b)
{
servo[Bar] = z + 5;// Means that the power will be related to how far you push aslong as its > 10
}
else
{
servo[Bar] = z;
}
if ((joystick.joy2_y2) > w)
{
servo[Bar] = z - 5;// Means that the power will be related to how far you push aslong as its > 10
}
else
{
servo[Bar] = z;
}
if(abs(joystick.joy2_y1) > b)
{
motor[Arm] = joystick.joy2_y1;
}
if (joy2Btn(04) == 1)
{
servo[Susan] = a + 5; // Adds 5 to the servo value allowing us to move the servo where we want it to.
}
if (joy2Btn(07) == 1)
{
servo[Susan] = a - 5 > 0; // Subtracts 5 from servo value letting us go the opposite way.
}
if (joy1_TopHat == 0)
{
motor[Lift1] = 75;
motor[Lift2] = 75; // Lift goes up at 75 power
}
if (joy1_TopHat == 4)
{
motor[Lift1] = -75;
motor[Lift2] = -75;// Lift goes down at 75
}
}
} | |
