turn left stop and actuate - autonomous

[CharlieWilken]

We need help with code in autonomous. We want our robot to turn (left or right) stop and then actuate a relay and move a speed controller motor. We need to know how to make the code and where to put it in the default code.

Thanks team 634

[mtrawls]

Originally Posted by CharlieWilken

We need help with code in autonomous. We want our robot to turn (left or right) stop and then actuate a relay and move a speed controller motor. We need to know how to make the code and where to put it in the default code.

Thanks team 634

Look in the file user_routines_fast.c and look for User_Autonomous_Code(). You will put your code here. I suggest implementing a simple state machine, e.g.:

switch (auton_state) {
  case TURN:
  {
  // put code to turn in desired direction here
  // change state when you are done turning
  // you'll know this either by a pre-determined time,
  // a gyro reading/accumulation, or an encoder system
  break;
  }
  case ACTUATE:
  {
  // put code here to actuate the relay/move motor
   break;
  }
  ...
  default:
  { // either you have a default condition, or this should print an error
  }
}

You can add as many states as suits your pleasure -- this makes it easy to change how you do the auton mode quickly. Make sure you change the state to the next one once you are done with the current. A little more details/more info on what you want/your robot would help to elicit a more specific response ... but this should get you started.

[Ryan M.]

Originally Posted by mtrawls

Look in the file user_routines_fast.c and look for User_Autonomous_Code(). You will put your code here. I suggest implementing a simple state machine, e.g.:

switch (auton_state) {
  case TURN:
  {
  // put code to turn in desired direction here
  // change state when you are done turning
  // you'll know this either by a pre-determined time,
  // a gyro reading/accumulation, or an encoder system
  break;
  }
  case ACTUATE:
  {
  // put code here to actuate the relay/move motor
   break;
  }
  ...
  default:
  { // either you have a default condition, or this should print an error
  }
}

You can add as many states as suits your pleasure -- this makes it easy to change how you do the auton mode quickly. Make sure you change the state to the next one once you are done with the current. A little more details/more info on what you want/your robot would help to elicit a more specific response ... but this should get you started.

Yeah, that is te basic idea. You would have a static variable at the top of that function named something appropriate like, say, state that is initailized to zero. Like this:

// this is just after the function header
static unsigned char state = 0;

In your states you would then increment it when the condition for a state being done is satisfied. I.E.:

switch(state)
{
    case 0: // This is your turn state
        if(supposed to turn left) // This would be however you can tell whether you are supposed to turn left or right
        {
            // So, we turn left however you do that
        }
        else
        {
            // This is where you turn right
        }

        // now we check to see if we can go to the next state
        if(done turning condition) // This is your encoders or whatever you use to tell if you've turned far enough
             state++; // Go to the next state
        break;

    case 1: // Next state
        // Same idea for a long as you want
        break;

    default:
        // If you reach here something went wrong
}

So, the idea is that you increment a state variable when you are done with a state.

PS Just as a side note, I have my defaults in my various switches calling a function named stupid(). All it does is printf() Stupid! and calls itself until it crashes. Anyways, that was kind of random.

[mtrawls]

Originally Posted by Texan

Yeah, that is te basic idea. You would have a static variable at the top of that function named something appropriate like, say, state that is initailized to zero. Like this:

// this is just after the function header
static unsigned char state = 0;

In your states you would then increment it when the condition for a state being done is satisfied. I.E.:

switch(state)
{
    case 0: // This is your turn state
        if(supposed to turn left) // This would be however you can tell whether you are supposed to turn left or right
        {
            // So, we turn left however you do that
        }
        else
        {
            // This is where you turn right
        }

        // now we check to see if we can go to the next state
        if(done turning condition) // This is your encoders or whatever you use to tell if you've turned far enough
             state++; // Go to the next state
        break;

    case 1: // Next state
        // Same idea for a long as you want
        break;

    default:
        // If you reach here something went wrong
}

So, the idea is that you increment a state variable when you are done with a state.

PS Just as a side note, I have my defaults in my various switches calling a function named stupid(). All it does is printf() Stupid! and calls itself until it crashes. Anyways, that was kind of random.

Might I suggest using an enum or define statements to name the states. state = 3.14159 is a bit more esoteric than #define AT_TARGET 3.14159 and then saying state = AT_TARGET (a bit less demanding on programmer's all-too-vexed memory too). This also helps because you don't always want to say sate++ -- for example, in my code I have a state to turn left and another to turn right, and it all depends on which sensor sees it; so there is an if statement assigning state a different value based on the condition.