RoboCatz.com

## Program 3 (Fall 2023)

The code below is a set of functions, variables, constants, and algorithms that are the work of RoboCatz for the Fall 2023 season.

```const pi = 3.14159
wheelDiameter = 5.6
wheelCircumference = wheelDiameter * pi
distanceBetweenWheels = 90
gearRatio = 28/20
degreesPerCentimeter =360/wheelCircumference

function moveBackward (distance) {
acceleration = degreesPerCentimeter * gearRatio * distance*.1 //20.571 is degrees per centimeter
atTopSpeed = degreesPerCentimeter * gearRatio * distance*.8
deceleration = degreesPerCentimeter * gearRatio * distance*.1
//beep()
print(`\${acceleration} \${atTopSpeed} \${deceleration}`)
stopAllMotors(true),sleep(200)
stepMotors( B , C , 50 ,acceleration, atTopSpeed, deceleration)
waitHereWhile getMotorSpeed(B) == 0
waitHereUntil getMotorSpeed(B) == 0
stopAllMotors(true)
beep(100,8000,1000)
}

function swingTurnRight(degreesRobotShouldTurn = 90) {
motorDegreesPerRobotDegree = (swingTurnCircumference / wheelCircumference )
acceleration = 0.25 * degreesRobotShouldTurn * motorDegreesPerRobotDegree
atTopSpeed   = 0.70 * degreesRobotShouldTurn * motorDegreesPerRobotDegree
deceleration = 0.15 * degreesRobotShouldTurn * motorDegreesPerRobotDegree
stepMotor(B, 25, acceleration, atTopSpeed, deceleration)
waitHereWhile getMotorSpeed(B)==0
sleep(100)
waitHereUntil getMotorSpeed(B)==0
stopAllMotors(true)
}
function moveForward(distance) {
if (distance*1 > 0) {
acceleration = degreesPerCentimeter *  gearRatio * distance*.05
atTopSpeed = degreesPerCentimeter * gearRatio * distance*.9
deceleration = degreesPerCentimeter * gearRatio *distance*.05
if ( acceleration == 0 ) alert('sorry.  try again.')
stepMotors( B , C , -50 ,acceleration, atTopSpeed, deceleration)
waitHereWhile getMotorSpeed(B) == 0
sleep(100)
waitHereUntil getMotorSpeed(B) == 0
stopAllMotors(true)
} else {
syncMotors( B, C, -25)
}
}
function ForwardAccelerationOnly(distance) {
if (distance*1 > 0) {
acceleration = degreesPerCentimeter *  gearRatio * distance*.05
atTopSpeed = degreesPerCentimeter * gearRatio * distance*.9
deceleration = degreesPerCentimeter * gearRatio *distance*.05
if ( acceleration == 0 ) alert('sorry.  try again.')
stepMotors( B , C , -50 ,acceleration, atTopSpeed)
waitHereWhile getMotorSpeed(B) == 0
sleep(100)
waitHereUntil getMotorSpeed(B) == 0
stopAllMotors(true)
} else {
syncMotors( B, C, -25)
}
}

function swingTurnLeft(degreesRobotShouldTurn = 10) {
motorDegreesPerRobotDegree = (swingTurnCircumference / wheelCircumference )
acceleration = 0.25 * degreesRobotShouldTurn * motorDegreesPerRobotDegree
atTopSpeed   = 0.70 * degreesRobotShouldTurn * motorDegreesPerRobotDegree
deceleration = 0.15 * degreesRobotShouldTurn * motorDegreesPerRobotDegree
stepMotor(B, -50, acceleration, atTopSpeed, deceleration)
waitHereWhile getMotorSpeed(B)==0
sleep(100)
waitHereUntil getMotorSpeed(B)==0
stopAllMotors(true)
}
function swingTurnLeftThree(degreesRobotShouldTurn = 10) {
beep()
motorDegreesPerRobotDegree = (swingTurnCircumference / wheelCircumference )

acceleration = 0.25 * degreesRobotShouldTurn * motorDegreesPerRobotDegree
atTopSpeed   = 0.70 * degreesRobotShouldTurn * motorDegreesPerRobotDegree
deceleration = 0.15 * degreesRobotShouldTurn * motorDegreesPerRobotDegree
stepMotor(C, 50, acceleration, atTopSpeed, deceleration)
waitHereWhile getMotorSpeed(C)==0
waitHereUntil getMotorSpeed(C)==0
stopAllMotors(true)
}
//stops motor C and moves motor B backwards
function swingTurnRightTwo(degreesRobotShouldTurn = 10) {
motorDegreesPerRobotDegree = (swingTurnCircumference / wheelCircumference )

acceleration = 0.25 * degreesRobotShouldTurn * motorDegreesPerRobotDegree
atTopSpeed   = 0.70 * degreesRobotShouldTurn * motorDegreesPerRobotDegree
deceleration = 0.15 * degreesRobotShouldTurn * motorDegreesPerRobotDegree
stepMotor(B, 50, acceleration, atTopSpeed, deceleration)
waitHereWhile getMotorSpeed(B)==0
waitHereUntil getMotorSpeed(B)==0
stopAllMotors(true)
}

function colorTurnerKey(){
clearScreen()
resetGyroSensor()
syncMotors(B,C,20), sleep(100)
moveForward(62)
swingTurnLeft(87)
moveBackward(2)
moveForward(4)
moveBackward(5)
moveForward(8)
moveBackward(5)
setLED(5)
sleep(2000)

//moveBackward(60)
//swingTurnRightTwo(44)
}

//colorTurnerKey()
//print(`gyro \${gyroSensor()}`)
//swingTurnLeft(80)
//moveBackward(4)
//setMotor( B, 30 )              // Start moving
//while( lightSensorPct(2) > 30 ) {  // while the light sensor sees a white ground
//  drawText(50, 60, lightSensorPct(2), 2)                    //   Show the lightSensor Percentage
//  sleep(100)                        //   sleep for 1/10th of a second
//}                                   // repeat the loop
//stopAllMotors()                     // line has been detected
//sleep(500)
//print(`gyro \${gyroSensor()}`)TurnR

target = 40
gain = 1.5
resetEncoder( B )

//while abs(encoderValue(B))< 600.00 {
//drawText(10,10, gain*(lightSensorPct(2)-target)+'  ', 2)
////syncMotors(B, C, 20, gain*(lightSensorPct(2)-target))
//clearRect(0,90, 178, 38)  // clears the bottom of the LCD screen
//fillRect((90-30*0.5)-(lightSensorPct(2)-target),90, 30, 38)
//sleep(100)
//}
stopAllMotors()
moveForward(60)
swingTurnLeft(36)
moveBackward(7)
ForwardAccelerationOnly(12)
moveBackward(9)
ForwardAccelerationOnly(14)
moveBackward(12)
swingTurnRight(60)
moveBackward(60)

//swingTurnLeftThree(60)
//moveBackward(40)
//swingTurnLeftThree(90)

```