Main Program (Fall 2020)
The code below is a set of functions, variables, constants, and algorithms that are the work of RoboCatz for the Fall 2020 season.
//hi
function driveBackward(inches, pwr) {
beep()
sleep(100)
beep()
myPower = 30
if( pwr*1 > 0 ) myPower=pwr // Same as: if(typeof pwr == 'number') myPower=pwr*1
syncMotors(B, C, myPower) // Start driving backward
resetEncoder(B) // Reset the encoder
while( abs(encoderValue(B)) < inches * 58 ) { // Convert inches to degrees by multiplying by 58
clearScreen() // Clear the screen
drawText( 10, 10, encoderValue(B), 2 ) // Show the encoder value
sleep(100) // Move for a period of time
} // Repeat the loop
}
function driveForward(inches, pwr) {
myPower = 30
if( pwr*1 > 0 ) myPower=pwr // Same as: if(typeof pwr == 'number') myPower=pwr*1
resetEncoder(B) // Reset the encoder
syncMotors(B, C, myPower * -1) // Start driving forward
while( abs(encoderValue(B)) < inches * 58 ) { // Convert inches to degrees by multiplying by 58
clearScreen() // Clear the screen
drawText( 10, 10, encoderValue(B)) // Show the encoder value
sleep(100) // Move for a period of time
} // Repeat the loop
}
function swingTurnCounterClockwise(degrees) {
syncMotors( B, C, 30, -100 ) // Start a swing turn in the other direction
resetGyroSensor() // Reset the sensor
while( abs(gyroSensorValue()) < degrees ) { // While the absolute value of the sensor is less than 90 degrees
sleep(50) // Move for a period of time
} // Repeat the loop
}
function swingTurnCounterClockwise2(degrees) {
syncMotors( C, B, 30, -100 ) // Start a swing turn in the other direction
resetGyroSensor() // Reset the sensor
while( abs(gyroSensorValue()) < degrees ) { // While the absolute value of the sensor is less than 90 degrees
sleep(50) // Move for a period of time
} // Repeat the loop
}
function swingTurnClockwise(degrees) {
syncMotors( B, C, 30, 100 ) // Start a swing turn in the other direction
resetGyroSensor() // Reset the sensor
while( abs(gyroSensorValue()) < degrees ) { // While the absolute value of the sensor is less than 90 degrees
sleep(50) // Move for a period of time
} // Repeat the loop
}
function pointTurnCounterClockwise(degrees) {
beep()
syncMotors( B, C, 30, 200 ) // Start a swing turn in the other direction
resetGyroSensor() // Reset the sensor
while( abs(gyroSensorValue()) < degrees ) { // While the absolute value of the sensor is less than 90 degrees
sleep(50) // Move for a period of time
} // Repeat the loop
}
function pointTurnClockwise(degrees) {
syncMotors( B, C, 30, -200 ) // Start a swing turn in the other direction
resetGyroSensor() // Reset the sensor
while( abs(gyroSensorValue()) < degrees ) { // While the absolute value of the sensor is less than 90 degrees
sleep(50) // Move for a period of time
} // Repeat the loop
}
function attachmentMotor(degrees, pwr) {
setMotor(A, pwr)
// Start Tilting up
resetEncoder(A)
// Reset the encoder
oldEncoder = encoderValue(A) // Initializing old encoder value
while( abs(encoderValue(A)) < degrees * 1 ) {
clearScreen()
// Clear the screen
drawText( 10, 10, encoderValue(A), 2 ) // Show the encoder value
sleep(100)
currentEncoder = encoderValue(A) * 1
if(abs(currentEncoder - oldEncoder) < 5) break;
oldEncoder = encoderValue(A) // reset the oldEncoder value
// Move for a period of time
} // Repeat the loop
stopAllMotors()
}
function baseToDance(){
}
function linefollow(){
target = 19
gain = 3
while(true) {
drawText(10,10, lightSensorValue())
syncMotors(2, 3, 20, (lightSensorValue()-target) * gain)
sleep(100)
}
}
function steptopullupbar() {
driveBackward(1.0625,35) //back away from step
stopAllMotors()
pointTurnCounterClockwise(90)// lines up with bar
syncMotors(B, C, 30)
sleep(1000)
while(touchSensorPressed()==false) {
sleep(50)
}
stopAllMotors()
sleep(1000)
stopAllMotors()
driveForward(31.25,30)
stopAllMotors()
pointTurnCounterClockwise(75)
stopAllMotors()
driveForward(11.5,20)
stopAllMotors()
pointTurnClockwise(75)
stopAllMotors()
driveForward(6,20)
// Turn one wheel at a time
syncMotors( B, C, 30, -100 )
sleep(1000)
syncMotors( B, C, 30, 100 )
sleep(1000)
// Accelerate the motor on port (B, C,)
for(i=1;i<20;i++) {
setMotor(2, 10+i*4)
//setMotor(3, 10+i*-4)
sleep(300)
}
sleep(3000)
}
function stepanddance() {
alert('You selected ENTER')
driveForward(26.5,20) //drive to counter
pointTurnCounterClockwise(75) //back up to wall
stopAllMotors()
syncMotors(B, C, 30)
sleep(1000)
while(touchSensorPressed()==false) {
sleep(50)
}
stopAllMotors()
sleep(1000)
driveForward(3,10)
pointTurnClockwise(85)
stopAllMotors()
driveForward(8.4,3) //move counter to blue
stopAllMotors()
steptopullupbar()
}
function slide2() {
driveForward(10,50) //electronic stuff
}
//#learningcodetobeahacker
function slide() {
//alert ('You selected UP')
driveForward(13, 35) //drive forward to start slide
stopAllMotors()
pointTurnCounterClockwise(90) //lines up to touch wall
stopAllMotors()
syncMotors(B, C, 30)
sleep(1000)
while(touchSensorPressed()==false) {
sleep(50)
}
stopAllMotors()
sleep(1000)
syncMotors(B, C, -30)
while(lightSensorPct()>6) { //finds line
sleep(50)
}
stopAllMotors()
pointTurnClockwise(41) //lines up with slide
stopAllMotors()
attachmentMotor(60, -30)
stopAllMotors()
driveForward(6.9)
stopAllMotors()
attachmentMotor(93, 30) //swings attachment motor
stopAllMotors()
driveBackward(5) //knocks guy down slide
pointTurnCounterClockwise(20)
stopAllMotors()
attachmentMotor(50, -30)
stopAllMotors()
driveForward(23)
pointTurnClockwise(83)
driveForward(3)
stopAllMotors()
}
function bench() {
alert('You selected DOWN')
attachmentMotor(200,20)
driveForward(13,20)
stopAllMotors()
swingTurnCounterClockwise(15)
driveForward(2)
pointTurnCounterClockwise(20) //knockes over bench
stopAllMotors()
attachmentMotor(45,100)
attachmentMotor(45,-100)
pointTurnClockwise(20)
stopAllMotors()
swingTurnClockwise(15)
stopAllMotors()
syncMotors(B, C, 30) //backs up to wall inside base
while(touchSensorPressed()==false) {
sleep(50)
}
stopAllMotors()
sleep(1000)
driveForward(2)
pointTurnClockwise(83)
}
function knockbench() {
alert('You selected RIGHT')
}
function MH_Dance() {
syncMotors( B, C, 30, -200)
sleep(1000)
syncMotors( B, C, 30, 200 )
sleep(1000)
// This is an experiment in generating
// Frequencies for notes
freq=[
392.00, 415.30, 440, 466.16, 493.88, 523.25, 554.37, 587.33, 622.25, 659.26, 698.46, 739.99,
783.99, 830.61, 880, 932.33, 987.77, 1046.5, 1108.73, 1174.66, 1244.51, 1318.51, 1396.91, 1479.98,
1567.98
]
// Create a 3-dimensional array to store the note information
// dimension 1: [key]
// dimension 2: [up/down] (where 0=up and 1=down)
// dimension 3: [note index] (0-4 or 0-5 depending on the up/down sequence
sequence=[]
sequence.push([[7, 12, 16, 19], [19, 16, 12, 7, 4]]) // G-Major
sequence.push([[4, 8, 12, 20], [20, 16, 12, 8, 4]]) // Augmented
sequence.push([[5, 9, 12, 17], [21, 17, 12, 9, 5]]) // C-Major
sequence.push([[8, 12, 15, 20], [20, 15, 12, 8, 3]]) // E-flat-Major
sequence.push([[7, 12, 16, 19], [19, 16, 12, 7, 4]]) // G-Major
clearScreen()
for(k=0;k<sequence.length; k++) {
beep(20, freq[0], 150 ) // Tonic
sleep(200)
for(l=0; l<4; l++) { // sequence up
f=sequence[k][0][l]
x=freq[f]
beep(20, x, 150 )
sleep(200)
}
beep(20, freq[24], 150 ) // Tonic 3rd Octave
sleep(200)
beep(20, freq[24], 150 ) // Tonic 3rd Octave
sleep(200)
for(l=0; l<5; l++) { // sequence down
f=sequence[k][1][l]
x=freq[f]
beep(20, x, 150 )
}
}
beep(20, freq[0], 1000 ) // Tonic
//sleep(0)
// Turn wheels in opposite directions
syncMotors( B, C, 30, -200 )
sleep(1000)
syncMotors( B, C, 30, 200 )
sleep(1000)
}
proceedFromBase=true
while(true) {
setLED(0)
clearScreen()
rect(10,10,160,60)
drawText(15,30,'Press a key to')
drawText(15,45,' select a program')
keyPressed=waitForPress()
switch(keyPressed)
{
case 2:
stepanddance()
break
case 3:
bench()
slide()
//MH_Dance()
//break
proceedFromBase=false
case 1:
if(proceedFromBase){
baseToDance()
}
MH_Dance()
break
case 4:
knockbench()
break
case 5:
steptopullupbar()
break
}
}
