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Re: [FTC]: Need Help Programming Joystick via Samantha
Here is our Teleop code from last year... see if this helps. Shorter version below.
Code:
#pragma config(Hubs, S1, HTMotor, HTMotor, HTMotor, HTServo)
#pragma config(Sensor, S1, , sensorI2CMuxController)
#pragma config(Motor, mtr_S1_C1_1, right, tmotorTetrix, openLoop, reversed)
#pragma config(Motor, mtr_S1_C1_2, left, tmotorTetrix, openLoop)
#pragma config(Motor, mtr_S1_C2_1, tower, tmotorTetrix, openLoop)
#pragma config(Motor, mtr_S1_C2_2, none, tmotorTetrix, openLoop)
#pragma config(Motor, mtr_S1_C3_1, claw, tmotorTetrix, openLoop, reversed)
#pragma config(Motor, mtr_S1_C3_2, flag, tmotorTetrix, openLoop)
#pragma config(Servo, srvo_S1_C4_1, Brake, tServoStandard)
#pragma config(Servo, srvo_S1_C4_2, LeftFlap, tServoStandard)
#pragma config(Servo, srvo_S1_C4_3, RightFlap, tServoStandard)
#pragma config(Servo, srvo_S1_C4_4, Block, tServoStandard)
#pragma config(Servo, srvo_S1_C4_5, servo5, tServoNone)
#pragma config(Servo, srvo_S1_C4_6, servo6, tServoNone)
//*!!Code automatically generated by 'ROBOTC' configuration wizard !!*//
#include "JoystickDriver.c" //Include file to "handle" the Bluetooth messages.
void initializeRobot()
{
servoTarget[Brake] = 65;
servoTarget[RightFlap] = 241;
servoTarget[LeftFlap] = 18;
servoTarget[Block] = 237;
return;
}
task main()
{
initializeRobot();
waitForStart(); // wait for start of tele-op phase
while (true)
{
getJoystickSettings(joystick);
if(joy1Btn(7))// claw Up
{
motor[right] = joystick.joy1_y2/4;
motor[left] = joystick.joy1_y1/4;
}
else
{
motor[right] = joystick.joy1_y2;
motor[left] = joystick.joy1_y1;
}
motor[tower] = joystick.joy2_y1;
//****************** DRIVER 2 (James) ***************************
if(joy2Btn(6))// claw Up
{
motor[claw] = 128;
}
else if(joy2Btn(8))// claw Down
{
motor[claw] = -128;
}
else
{
motor[claw] = 0;
}
if(joy2Btn(2))//flinger
{
servoTarget[Block]= 170;
}
else
{
servoTarget[Block]= 237;
}
//****************** DRIVER 1 (Jacob) ***************************
if(joy1Btn(4))// flag up
{
motor[flag] = 100;
}
else if(joy1Btn(3))// flag down
{
motor[flag] = 50;
}
else if(joy1Btn(2))// flag down
{
motor[flag] = -100;
}
else
{
motor[flag] = 0;
}
if(joy1Btn(5)) //Right FLAP
{
servoTarget[LeftFlap] = 80;
}
else
{
servoTarget[LeftFlap] = 180;
}
if(joy1Btn(6))// Left FLAP
{
servoTarget[RightFlap] = 146;
}
else
{
servoTarget[RightFlap] = 47;
}
//*********************** BOTH DRIVERS **************************
if(joy1Btn(1)&joy2Btn(1))// baton mover
{
servoTarget[Brake] = 97;
}
else
{
servoTarget[Brake] = 65;
}
}
}
Code:
#pragma config(Hubs, S1, HTMotor, HTMotor, HTMotor, HTServo)
#pragma config(Sensor, S1, , sensorI2CMuxController)
#pragma config(Motor, mtr_S1_C1_1, right, tmotorTetrix, openLoop, reversed)
#pragma config(Motor, mtr_S1_C1_2, left, tmotorTetrix, openLoop)
#pragma config(Motor, mtr_S1_C2_1, tower, tmotorTetrix, openLoop)
#pragma config(Motor, mtr_S1_C2_2, none, tmotorTetrix, openLoop)
#pragma config(Motor, mtr_S1_C3_1, claw, tmotorTetrix, openLoop, reversed)
#pragma config(Motor, mtr_S1_C3_2, flag, tmotorTetrix, openLoop)
#pragma config(Servo, srvo_S1_C4_1, Brake, tServoStandard)
#pragma config(Servo, srvo_S1_C4_2, LeftFlap, tServoStandard)
#pragma config(Servo, srvo_S1_C4_3, RightFlap, tServoStandard)
#pragma config(Servo, srvo_S1_C4_4, Block, tServoStandard)
#pragma config(Servo, srvo_S1_C4_5, servo5, tServoNone)
#pragma config(Servo, srvo_S1_C4_6, servo6, tServoNone)
//*!!Code automatically generated by 'ROBOTC' configuration wizard !!*//
#include "JoystickDriver.c" //Include file to "handle" the Bluetooth messages.
void initializeRobot()
{
servoTarget[Brake] = 65;
servoTarget[RightFlap] = 241;
servoTarget[LeftFlap] = 18;
servoTarget[Block] = 237;
return;
}
task main()
{
initializeRobot();
waitForStart(); // wait for start of tele-op phase
while (true)
motor[right] = joystick.joy1_y2;
motor[left] = joystick.joy1_y1;
motor[tower] = joystick.joy2_y1;
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"I WANT CHEETOS!" - Bad Lip Reading 2016 <-- ME
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