another simple auton example is our code... basicly it goes strait. then it turns about 75degrees. then it goes foward, opens its arms, and swings and knocks off the ball. it is based on a wheel counter inturpt... so you can make it go as fast or as slow as you want.
Code:
/********************************************************
************jacobs autonoumus code....********************
*******************************************************/
relay8_fwd = !rc_dig_in18; // Power pump only if pressure switch is on.
relay8_rev = 0;
//this start start it moving... ladies and gents start your engins
if(count >= 0 && count < 2) {
pwm15 = 127 + 50; //drive strait
pwm16 = 127 + 50; //drive strait
//turn to get the ball
if(count> 12 && count < 14) {
foward = 0; //turn off correction algoritiom (cuz were turning duh)
pwm15 = 127 + 50; //make right wheel turn fowards
pwm16 = 127 - 50; //make left wheel turn backwards
pwm01 = 254; //make arm go up
}
if(rc_dig_in16 == 1) { //make sure arm doesnt go to high!!!
pwm01 = 127;
}
//then we have to go strait slightly to get to the ball
if(count > 14 && count < 16) {
pwm15 = 127 + 50; //go foward
pwm16 = 127 + 50; //go foward
relay3_fwd = 1; //open the gripers...
relay3_rev = 0; //open the grpiers...
}
//now turn to AND close the gippers to knock/grab ball off... combo move HI-YAH
if(count > 18 && count < 23) {
pwm15 = 127 - 50; //turn the other way
pwm16 = 127 + 50; //turn the other way
relay3_fwd = 0; //close grippers
relay3_rev = 1; //close grippers
}
//NOW we shut down motors
if(count > 24 && count < 100) {
pwm15 = 127; //turn the other way
pwm16 = 127; //turn the other way
}
/***********************************************************
*******************end jacobs auton code******************
***********************************************************/
as for the inturpst... that is not as hard as every one is making them out to be. there is a great white paper called inturpts for dummies, i sugjest you read it if your intrested. ive never done them before and it worked very well.