Program 7 (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
degreesPerCentirmeter=360/wheelCircumference
swingTurnDiameter = distanceBetweenWheels * 2
gearRatio=28/20
function moveForward (distance) {
acceleration =gearRatio* degreesPerCentirmeter * distance*.1
atTopSpeed =gearRatio* degreesPerCentirmeter * distance*.8
deceleration = gearRatio* degreesPerCentirmeter * 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 = gearRatio* degreesPerCentirmeter * distance*.1
atTopSpeed = gearRatio* degreesPerCentirmeter * distance*.8
deceleration = gearRatio* degreesPerCentirmeter * 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 swingTurnRight(degreesRobotShouldTurn = 90) {
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 swingTurnLeft(degreesRobotShouldTurn = 90) {
motorDegreesPerRobotDegree = (swingTurnCircumference / wheelCircumference )
acceleration = 0.25 * degreesRobotShouldTurn * motorDegreesPerRobotDegree
atTopSpeed = 0.70 * degreesRobotShouldTurn * motorDegreesPerRobotDegree
deceleration = 0.15 * degreesRobotShouldTurn * motorDegreesPerRobotDegree
stepMotor(C, 25, acceleration, atTopSpeed, deceleration) //reduced pwr from 50
waitHereWhile getMotorSpeed(C)==0
waitHereUntil getMotorSpeed(C)==0
stopAllMotors(true)
}
//function Linefind() {
// syncMotors( B, C, -30 ) // Start moving
// while( lightSensorPct() > 20 ) // while the light sensor sees a white ground
// drawText(50, 60, lightSensorPct(), 2) // Show the lightSensor Percentage
// sleep(100) // sleep for 1/10th of a second
// repeat the loop
//}
function swingTurnLeftBackwards(degreesRobotShouldTurn = 90) {
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)
}
function annaDelivery() {
moveBackward(0.5)
moveForward(70)
swingTurnLeft(45)//reduced it was 55
moveForward(35)
// alert ( ' im on 83')
moveBackward(60)
swingTurnLeftBackwards(57)
moveBackward(45)
}
function Linefind() {
syncMotors( B, C, 30 ) // Start moving
while( lightSensorPct() > 15 ) // while the light sensor sees a white ground
drawText(55, 80, lightSensorPct(), 2) // Show the lightSensor Percentage
sleep(100) // sleep for 1/10th of a second
// repeat the loop
stopAllMotors()
}
function popStage() {
moveBackward(0.15)
swingTurnRight(40)
moveForward(30)
swingTurnRight(25)
}
function liftDaLever(power=55){
setMotor(A,power)
setMotor(D,power)
sleep(1000)
waitHereUntil isMotorStalled(A) and isMotorStalled(D)
beep(100,800,10)
stopAllMotors()
resetEncoder(A)
resetEncoder(D)
}
moveForward(45)
moveBackward(45)
