[FTC]: Post your code!

[dooey100]

Post your code so that others may learn from you and you may learn from others!


Here is our code, its not exactly the most readable, we made a lot of changes during our competition and I didn't do any comments for that code, and I'm not exactly good about my commenting in the first place, bet here ya go. Alot of the stuff is very poorly written, from when I was first learning RobotC, so we aren't as bad at coding as you might think from some of this.

What each function does:

MotorDeadZone: Limits our joystick values to be within +/- 100 and sets it to zero if it is close to zero (this accounts for the joysticks not always returning to zero)

Drive: sets the drive motor speed and turns our servo powered castors to the proper position for the setting (we used the d-pad for driving)

Arm: pretty self explanatory

Flippers: our flippers were NXT powered, and used to quickly knock out opponents puck racks. Uses a button to set a position for the flipper (either up or down) the function is intentionally written so there are no loops, so you can drive regardless of the position

LiftBucketToVerticle, LiftBucketToVerticleSlow, BackwardsGoal, BucketToGround, CollectPucksLeft, ColelctPucksRight, and CollectPucksBack are all button activated subroutines to automate difficult and/or common tasks.

DriveToTapePlusEncoder: this function was originally supposed to drive until it hits the tape then keep going for an encoder distance, but we switched to a time instead.