Program 2 (Fall 2025) - If all else fails.js
The code below is a set of functions, variables, constants, and algorithms that are the work of RoboCatz for the Fall 2025 season.
// Program name: If all else fails
const pi = 3.141592653589793238462643382
wheelDiameter = 8.8
wheelCircumference = wheelDiameter * pi
distanceBetweenWheels = 13.5
degreesPerCentirmeter=360/wheelCircumference
swingTurnDiameter = distanceBetweenWheels * 2
pointTurnCircumference=distanceBetweenWheels*pi
gearRatio=20/28
// alert(`${pointTurnCircumference}`)
// alert("hlo wrld")
function moveBackward (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 pointTurnRight(degreesRobotShouldTurn = 90) {
motorDegreesPerRobotDegree = (pointTurnCircumference / wheelCircumference )
acceleration = 0.15 * gearRatio * degreesRobotShouldTurn * motorDegreesPerRobotDegree
atTopSpeed = 0.70 * gearRatio * degreesRobotShouldTurn * motorDegreesPerRobotDegree
deceleration = 0.15 * gearRatio * degreesRobotShouldTurn * motorDegreesPerRobotDegree
stepMotor(B, 25, acceleration, atTopSpeed, deceleration) // Pass the parameters to the stepMotor() function.
stepMotor(C, -25, acceleration, atTopSpeed, deceleration) // Notice that one of the motors has positive speed and the other negative speed.
// Now check the speed of the motors to see if the robot has started or completed the maneuver.
// Because two motors are being used to make the turn, you will need to check the speed of both motors.
// The stepMotor() function always starts with the speed at zero.
waitHereWhile getMotorSpeed(B)==0 || getMotorSpeed(C)==0 // Wait here while the robot has not yet started to move.
waitHereUntil getMotorSpeed(B)==0 && getMotorSpeed(C)==0 // Wait here as the motor is turning and only exit from this line when the speed returns to back to zero.
stopAllMotors(true) // Apply the brake to the motor(s)
}
function swingTurnLeft(degreesRobotShouldTurn = 90) {
motorDegreesPerRobotDegree = (swingTurnDiameter*pi / wheelCircumference )
acceleration = 0.25 *gearRatio* degreesRobotShouldTurn * motorDegreesPerRobotDegree
atTopSpeed = 0.70 *gearRatio* degreesRobotShouldTurn * motorDegreesPerRobotDegree
deceleration = 0.15 *gearRatio* 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 = (swingTurnDiameter*pi / wheelCircumference )
acceleration = 0.25 *gearRatio* degreesRobotShouldTurn * motorDegreesPerRobotDegree
atTopSpeed = 0.70 *gearRatio* degreesRobotShouldTurn * motorDegreesPerRobotDegree
deceleration = 0.15 *gearRatio* degreesRobotShouldTurn * motorDegreesPerRobotDegree
stepMotor(C, -25, acceleration, atTopSpeed, deceleration) //reduced pwr from 50
waitHereWhile getMotorSpeed(C)==0
waitHereUntil getMotorSpeed(C)==0
stopAllMotors(true)
}
function pointTurnLeft(degreesRobotShouldTurn = 90) {
motorDegreesPerRobotDegree = (pointTurnCircumference / wheelCircumference )
acceleration = 0.15 * gearRatio * degreesRobotShouldTurn * motorDegreesPerRobotDegree
atTopSpeed = 0.70 * gearRatio * degreesRobotShouldTurn * motorDegreesPerRobotDegree
deceleration = 0.15 * gearRatio * degreesRobotShouldTurn * motorDegreesPerRobotDegree
// alert(`${motorDegreesPerRobotDegree} ${acceleration} ${atTopSpeed} ${deceleration } `)
stepMotor(C, 25, acceleration, atTopSpeed, deceleration) // Pass the parameters to the stepMotor() function.
stepMotor(B, -25, acceleration, atTopSpeed, deceleration) // Notice that one of the motors has positive speed and the other negative speed.
// Now check the speed of the motors to see if the robot has started or completed the maneuver.
// Because two motors are being used to make the turn, you will need to check the speed of both motors.
// The stepMotor() function always starts with the speed at zero.
waitHereWhile getMotorSpeed(B)==0 || getMotorSpeed(C)==0 // Wait here while the robot has not yet started to move.
waitHereUntil getMotorSpeed(B)==0 && getMotorSpeed(C)==0 // Wait here as the motor is turning and only exit from this line when the speed returns to back to zero.
stopAllMotors(true) // Apply the brake to the motor(s)
}
function moveForward(distance) {
if (distance > 0) {
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)
} else {
syncMotors( B, C, -25)
}
}
//program start
await moveForward(130)
await moveBackward(130)
