|
|
|
![]() |
|
|||||||
|
||||||||
![]() |
|
|
Thread Tools | Rate Thread | Display Modes |
|
|
|
#1
|
|||||
|
|||||
|
Re: Simple Autonomous Mode Example
You know, I'm doing basically the same thing using simpler code. Plus, You can write REALLY LONG scripts without REALLY lengthening the code. I'll Release my source about a week or 2 after regionals.
Hint: Arrays |
|
#2
|
||||
|
||||
|
Re: Simple Autonomous Mode Example
Quote:
![]() |
|
#3
|
||||
|
||||
|
Re: Simple Autonomous Mode Example
A NOTE TO ANYONE USING THE ABOVE CODE:
I made a slight error in the definitions of the SECS_TO_TICKS and MSECS_TO_TICKS macros. You'll need to change them to the following: Code:
#define SECS_TO_TICKS(a) ( ((long)(a)) * 10000 / 262 ) //And milliseconds too: #define MSECS_TO_TICKS(a) ( ((long)(a)) * 10 / 262 ) |
|
#4
|
||||
|
||||
|
Re: Simple Autonomous Mode Example
I'm sure rookie teams without much programming experience will find that helpful.
![]() |
|
#5
|
|||||
|
|||||
|
Re: Simple Autonomous Mode Example
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******************
***********************************************************/
|
![]() |
| Thread Tools | |
| Display Modes | Rate This Thread |
|
|
Similar Threads
|
||||
| Thread | Thread Starter | Forum | Replies | Last Post |
| Initializing autonomous mode | Mr. Lim | Programming | 7 | 02-02-2004 07:26 |
| how can you use a gyro in autonomous mode | magical hands | Programming | 3 | 02-01-2004 13:31 |
| Programming Autonomous mode | Jared Stofflett | Programming | 3 | 11-11-2003 09:32 |
| autonomous mode problem on field | Chris_C | Programming | 17 | 26-03-2003 19:11 |
| autonomous mode timer | Don | Programming | 6 | 09-02-2003 22:16 |