Program 4 (Fall 2025) - Amir2.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: Amir2.js
const pi = 3.141592653589793238462643382
let gearRatio = 28/20
wheelDiameter = 8.8
let degreesPerCentimeter = 360/(wheelDiameter*pi)
distanceBetweenWheels = 13.5
wheelCircumference = wheelDiameter * pi
pointTurnCircumference=distanceBetweenWheels*pi
function getRocks(){
//gearRatio = 20/14
//degreesPerCentimeter = 24
setMotor( D, 100 )
sleep( 100 )
resetEncoder( D )
waitHereUntil abs(encoderValue( D )) > 1050
or isMotorStalled(D)
stopAllMotors()
}
function moveBackward (distance) {
acceleration =gearRatio* degreesPerCentimeter * distance*.1
atTopSpeed =gearRatio* degreesPerCentimeter * distance*.8
deceleration = gearRatio* degreesPerCentimeter * distance*.1
stepMotors( B , C , 80 ,acceleration, atTopSpeed, deceleration)
waitHereWhile getMotorSpeed(B) == 0
waitHereUntil getMotorSpeed(B) == 0
stopAllMotors(true)
}
function moveForward (distance) {
acceleration =gearRatio* degreesPerCentimeter * distance*.1
atTopSpeed =gearRatio* degreesPerCentimeter * distance*.8
deceleration = gearRatio* degreesPerCentimeter * distance*.1
stepMotors( B , C , -30 ,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, 20, acceleration, atTopSpeed, deceleration) // Pass the parameters to the stepMotor() function.
stepMotor(C, -20, 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)
}
moveForward(64)
await stepMotor( C, -40, 120 )
moveForward(5)
getRocks()
moveBackward(5)
await stepMotor( C, 40, 30 )
moveBackward(64)
