Here’s a copy of the auton scripts. I can’t tell you when they’re from in the season, but they work. The top line is a description of what the auton does. I’m sure once Colin checks back in he’ll explain a little about the format of the files.
I can’t explain the LabVIEW part of it, but I can tell you how it works controls-wise. One of the sticks controls the forward and backwards drive, and the other stick will control turning. So your two axes are separated. I believe we have it in our code where if you’re not going as fast on the forward-reverse stick, you’ll get sharper turns.
poops.vi “poops” out all the digital IO states onto the driver console. It updates live with the robot, so you can see the IOs change as you go. We were having a lot of issues with our sensors at the beginning of the season, so we made this VI for debugging purposes.
It looks like I’m going to have to review filenames before we publish them next time :yikes:
The turning power is proportional to the forward power, and added/subtracted to the forward power. If the forward power is 0, the turning power is sent to the motors. This provides better control at high speeds, and with varying speeds.
Maybe reviewing them would be a good idea, but as long as you put a comment in it explaining what it actually does, it’s at least worth a good laugh.
I mean, in our code, the logo for the vi that runs ball collection looks like a flux capacitor for no apparent reason.
Hey guys, sorry - I had family over today, and frankly I wasn’t expecting as much interest as was displayed.
I was intending to post example scripts, but I didn’t have access to any - which I was planning to remedy next week. However, I took the scripts from what Zach posted and pushed the ones we actually used this year to GitHub, under the “Autonomous Scripts” folder, as well as a quick Readme on them.
For a quick overview, the way the a function works TYPICALLY follows the formula:
commandFunction(relative, start type, start param, end type, end param)