Program 2 (Fall 2022)
The code below is a set of functions, variables, constants, and algorithms that are the work of RoboCatz for the Fall 2022 season.
function moveForward(inches,powerLevel=66){
resetEncoder(B)
syncMotors(B,C,powerLevel)
waitHereWhile abs(encoderValue(B))<50*inches
stopAllMotors(true)
}
function moveBackward(inches){
resetEncoder(B)
syncMotors(B,C,-80)
beep()
//sleep(1000)
waitHereWhile abs(encoderValue(B))<48*inches
stopAllMotors()
}
function turnright(){
resetGyroSensor()
syncMotors(B,C,100,200)
waitHereWhile abs(gyroSensorValue())<90
stopAllMotors()
}
function liftWall(power){
setMotor(D,power)
sleep (2000)
}
function resetWall(power){
setMotor(D,power)
sleep(1000)
waitHereUntil getMotorSpeed(D)==0
resetEncoder(D)
}
function downWall(){
setMotor(D,100)
sleep(100)
waitHereWhile abs(encoderValue(D))<1720 && getMotorSpeed(D)>0
setMotor(D,0)
}
//retrieve part
resetWall(-45)
moveForward(20,20)
downWall()
//liftWall(30)
sleep(1000)
moveBackward(30)
