Program 5 (Fall 2024)
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 , 80 ,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 swingTurnRight(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 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)
}
}
moveForward (67)
setMotor( A, -25)
sleep(1000)
moveBackward(67)
alert('i am here')
moveForward (26)
swingTurnLeft(90)
moveForward (28)
swingTurnLeft(90)
moveForward (28)
moveBackward(15)
