Program 4 (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.
function moveForward(distance) {
acceleration = 20.571 * distance*.1
atTopSpeed = 20.571 * distance*.8
deceleration = 20.571 * distance*.1
stepMotors( B , C , 50 ,acceleration, atTopSpeed, deceleration)
waitHereWhile getMotorSpeed(B) == 0
waitHereUntil getMotorSpeed(B) == 0
stopAllMotors(true)
}
function moveBackward(distance) {
if (distance > 0) {
acceleration = 20.571 * distance*.1
atTopSpeed = 20.571 * distance*.8
deceleration = 20.571 * distance*.1
stepMotors( B , C , -50 ,acceleration, atTopSpeed, deceleration)
waitHereWhile getMotorSpeed(B) == 0
waitHereUntil getMotorSpeed(B) == 0
stopAllMotors(true)
} else {
syncMotors( B, C, -25)
}
}
function turnLeft( gyroTarget) {
syncMotors( B, C, 25, -100 )
resetGyroSensor()
waitHereWhile abs(gyroSensorValue()) < gyroTarget
stopAllMotors()
}
function turnRight( gyroTarget) {
syncMotors( B, C, 25, +100 )
resetGyroSensor()
waitHereWhile abs(gyroSensorValue()) < gyroTarget
stopAllMotors()
}
moveForward(10000)
//turnLeft(90)
//moveForward(15)
//turnRight(90)
//moveForward(15)
//moveBackward(45)
//moveBackward()
//waitHereUntil lightSensor() < 20
//stopAllMotors(true)
