Chief Delphi - Autonomous Driving

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- C/C++ (http://www.chiefdelphi.com/forums/forumdisplay.php?f=183)

- - Autonomous Driving (http://www.chiefdelphi.com/forums/showthread.php?t=75337)

Autonomous Driving

What our robot currently does is move around randomly.

This is that code

Code:

                m_robotDrive->Drive(ajoysticky,aajx);

                        Wait(2.0);

                        aajx = aajx * .5;

                        m_robotDrive->Drive(ajoysticky,aajx);

                        Wait(3.0);

                        aajx = aajx * -.1;

                        m_robotDrive->Drive(ajoysticky,aajx);

                        Wait(4.0);

                        aajx = aajx * -.1;

                        m_robotDrive->Drive(ajoysticky,aajx);

                        Wait(6.0);

                        aajx = aajx * -.8;

                        m_robotDrive->Drive(ajoysticky,aajx);

                        Wait(5.0);

                        aajx = aajx * -1.2;

                        m_robotDrive->Drive(ajoysticky,aajx);

That works perfectly for what its for, but what we want our robot to do instead is move forward for a few seconds and spin in circles and I was wondering what would be the proper technique.

I would assume something similar to this

Code:

RobotDrive *m_robotDrive;

Jaguar* rightmotor;

Jaguar* leftmotor;



m_robotDrive = new RobotDrive(1,2);

rightmotor = new Jaguar(1);

leftmotor = new Jaguar(2);



m_robotDrive->Drive(1,0)

Wait(3.0);

(Set right motor and left motor to 1) so it will cause one side to go forward and the other to go in reverse



(Both are 1 because one cim has to go in reverse)

Im not sure of the proper syntax to set the jaguars speed and I dont have access to the robot so any insight would be much appreciated

-Dan

Re: Autonomous Driving

under the autonomous portion of the code do something like:

rightmotor->Set(1);// motor speeds range from -1 to 1
leftmotor->Set(1);// so this sets both motors full speed forward
Wait(3.0); //Both motors will remain full speed forward for 3 seconds
rightmotor->Set(-1);// right motor turns backward full speed
leftmotor->Set(1);// left motor turn forward full speed
Wait(2.0);// So the robot will spin in circles(right) for 2 seconds
rightmotor(0.0);// stop right motor
leftmotor(0.0);// stop right motor

I hope this helps. I put the comments in there so you can see what is going on.

Re: Autonomous Driving

Thanks I will let you know how it goes when I test it on our robot!

Re: Autonomous Driving

The spin move seems to be popular.

Re: Autonomous Driving

Haha, I used a timer class instead of Wait. Why didn't I use wait:yikes: