I know what the best bennifit of a gyro is (in my mind)... I consider it a backup device... using it with your counter you can make a very sound auton. program. I am searching through my programs last year to find an example of what I am talking about but my programs are on my old computer so when I backed them up on CD's they got thrown all over the place.
Basically it would work like this....
you could use a go-sub like this
Code:
Gyrocounter:
if sensor1 > 130 then Gyro1: 'Gyro Sensor Clockwise
if sensor1 < 128 then Gyro2: 'Gyro Sensor Counterclockwise
Goto Gyro3:
Gyro1:
cont = cont + sensor1 - 129
Goto Gyro3:
Gyro2:
cont = cont + sensor1 - 129
Gyro3:
Pass:
Return
Then incorperate your code like this....
Code:
Right_Gyro:
gosub gyrocounter
if cont < 32000 then
relay1_fwd = 1 'Two Wheel Drive On
relay1_rev = 0 'Four Wheel Drive Off
endif
On indc goto RGyro, RGyro1, RGyro2, RGyro3, RGyro4
RGyro: 'Half Circle
p1_y = 175 'Right Front Wheel Forward
p2_x = 175 'Right Rear Wheel Forward
p2_y = 250 'Left Front Wheel Forward
p3_x = 250 'Left Rear Wheel Forward
If cont > 37800 then RGyro1
Goto Main:
RGyro1: 'Half Circle
indc = 1
relay1_fwd = 0 'Two Wheel Drive Off
relay1_rev = 1 'Four Wheel Drive On
p1_y = 175 'Right Front Wheel Forward
p2_x = 175 'Right Rear Wheel Forward
p2_y = 250 'Left Front Wheel Forward
p3_x = 250 'Left Rear Wheel Forward
If cont > 38200 then cycle = 0
If cont > 38200 then goto RGyro2
Goto Main:
RGyro2: 'Straight Forward
indc = 2
p1_y = 253 'Right Front Wheel Forward
p2_x = 253 'Right Rear Wheel Forward
p2_y = 253 'Left Front Wheel Forward
p3_x = 253 'Left Rear Wheel Forward
If cycle >= 130 then RGyro3
Goto Main:
RGyro3:
indc = 3
p1_y = 127 'Right Front Wheel Stop
p2_x = 127 'Right Rear Wheel Stop
p2_y = 127 'Left Front Wheel Stop
p3_x = 127 'Left Rear Wheel Stop
If cycle >= 140 then RGyro4
You can get the basic idea on how to program a gyro (id the variabales)
REMEMBER
This is pbasic coding you will need to convert it into C for this years controller... on Innovation they have the "pamphlet" they created to show you how to do many of these functions... I will work on making some C programming for a gyro but I have many other things to work on for my team so I do not know how productive I will be...
If you need help with the coding give me something to work with... a general idea is hard to show you what you want but if you give me a very spacific idea I would be more than happy to help you out ne way I can.
If you need the help contact me...
AOL IM- GregTheGreat04 (no spaces)
E-mail-
g.ullstam@comcast.net
Good Luck,
-Greg The Great