GalileoBotball / Botball Library

Drive,, Task,Code,Notes ,, Pause,"// pause ao(); msleep(2000);", ,, Forward,"// forward motor (0,100); motor (3,100); msleep (250);","//if using MAV void Move(int l_power,int r_power,int time) {mav(0,l_power); mav(3,r_power); msleep(time); ao(); sleep(100); }" ,, Backward,"// backward motor (0,-100); motor (3,-100); msleep (250);", ,, Turn 90 Degrees Right,"// 90 degree turn right motor(0,0); motor(3,100); msleep (1500);", ,, Turn 90 Degrees Left,"// 90 degree turn Left motor(0,100); motor(3,0); msleep (1500);", ,, Motor Position Counter,"// motor position counter clear_motor_position_counter(3); while (get_motor_position_counter(3) < 4000) { motor(3,50); motor (0,50); } ao();","Counts ""ticks""-complete wheel rotation Your motors have approximately 1820 ticks per revolution" ,, ,,

// pause ao(); msleep(2000);" // forward motor (0,100); motor (3,100); msleep (250);" // 90 degree turn right motor(0,0); motor(3,100); msleep (1500);" // 90 degree turn Left motor(0,100); motor(3,0); msleep (1500); /*Counts "ticks"-complete wheel rotation Your motors have approximately 1820 ticks per revolution */ // motor position counter clear_motor_position_counter(3); while (get_motor_position_counter(3) < 4000) { motor(3,50); motor (0,50); } ao(); //if using MAV void Move(int l_power,int r_power,int time) {mav(0,l_power); mav(3,r_power); msleep(time); ao(); sleep(100); }

Analog Sensor,,,, Task,Code,,Notes, ,,,, ET,"//measure distance while (analog (1)<=2900) { motor(0,50); motor(3,50); } //pause ao(); msleep(100);",,, ,,,, "IR Sensor: Large/ Small Tophat","//Find Black //move forward until black is detected while (analog(1)<=1580)//stop on black { printf(""start loop move forawrd\n""); motor (0,80); motor (3,80); } //move bakward until black is no longer deteted while (analog (1)>=1580)//stop on black { printf(""start loop move backward\n""); motor(0,-80); motor(3,-80); } printf(""start loop stops\n""); //pause ao(); msleep(100); ","//follow the line cmpc(0); while (gmpc(0) < 40000){ if (analog(1)<3500){ motor (0,80); motor (3,5); } else{ motor (0,5); motor (3,80);} } return 0; }","//Follow the line Race #include <kipr/wombat.h> #define black 3750 int main() { printf(""follow the line 23.95\n""); int right = 0; //3 biger then one int left = 0; cmpc(0); while (gmpc(0) < 20000) { if (analog(0) > black) { motor (0,25 - right); motor (3,100); msleep(1); right = right + 1; left = left - 1; msleep(1); } if (analog(0) < black) { motor(3,25 - left); motor (0,100); msleep(1); left = left + 1; right = right - 1; msleep(1); } printf(""left %d and right %d\n"",left, right); } return 0; }","//Follow the line with 2 sensors #include <kipr/wombat.h> int main() { int difference=2000; while(digital(0)==0) { //while lever sensor is not pressed if (analog(1)<=difference && analog(0)<=difference){ //if both tophat sensors are on white go forwards motor(0,50); motor(3,50); msleep(25); printf(""1\n""); } else if (analog(1)<=difference) { //if tophat sensor 1 is on white, turn right motor(0,-10); motor(3,50); msleep(25); printf(""2\n""); } else if (analog(0)<=difference) { //if tophat sensor 0 is on white, turn left motor(0,50); motor(3,-10); msleep(25); printf(""3\n""); } else{ //if both sensors are on black go forwards motor(0,100); motor(3,100); msleep(25); printf(""4\n""); } } return 0; }" ,,,, ,,,, ,,,, Linear Slide,,,,

Arm,, Task,Code,Notes ,, Turn Arm On,enable_servos();, ,, Turn Arm Off,disable_servos();, ,, Set Start Position,"set_servo_position(0,734);", ,, Rotate Up,"//up set_servo_position(0,724); msleep(1000);", ,, Rotate Down,"//down set_servo_position(0,1824); msleep(1000);", ,, Claw Open ,"//open set_servo_position(3,724); msleep(1000);", ,, Claw Closed,"//close set_servo_position(3,1933); msleep(1000);", ,, Servos Movement,"void RunStart(int port,int sleep) { enable_servos(); set_servo_position(port,sleep); ao(); msleep(100); }",

Camera,, Task,Code,Notes Find Objects,, ,, ,, ,, ,, ,, ,, ,, ,, ,,"KIP Camera Curriculum Link https://www.kipr.org/wombat-curriculum/camera "

"//Code to test if all on bot is working #include <kipr/wombat.h> void test_servo(port) { printf(""testing servo%d\n"",port); printf(""\tup 2 seconds\n""); enable_servo(port); enable_servos(); set_servo_position(port,0); msleep(2000); set_servo_position(port,2047); msleep(2000); disable_servo(port); disable_servos(); } void test_motor(port) { printf(""testing motor%d\n"",port); printf(""\tforward 2 seconds\n""); motor(port,100); msleep(2000); printf(""\tbackwords 2 seconds\n""); motor(port,-100); msleep(2000); ao(); } int main() { test_motor(0); test_motor(1); test_motor(2); test_motor(3); test_servo(0); test_servo(1); return 0; }"

Digital Sensor,, Task,Code,Notes ,, "Touch Sensor: -Lever -Small Touch -Large Touch"," //Touch Sensor while (digital (0)==0) { motor (0,100); motor (3,100); } ao(); msleep(1000); while (digital(1)==0) { motor (0,-100); motor (3,-100); } ao(); msleep(1000);",buttons wait for light code,"//wait for light wait_for_light (0);","//wait for light with button if(push_button() ==1 {wait_for_light (0);}" shut down,"// Shuts down all motors after 119 seconds (just less than 2 minutes). shut_down_in(119);",

Drive,, Task,Code,Notes ,, Pause,"// pause ao(); msleep(2000);", ,, Forward,"// forward motor (0,100); motor (3,100); msleep (250);","//if using MAV void Move(int l_power,int r_power,int time) {mav(0,l_power); mav(3,r_power); msleep(time); ao(); sleep(100); }" ,, Backward,"// backward motor (0,-100); motor (3,-100); msleep (250);", ,, Turn 90 Degrees Right,"// 90 degree turn right motor(0,0); motor(3,100); msleep (1500);", ,, Turn 90 Degrees Left,"// 90 degree turn Left motor(0,100); motor(3,0); msleep (1500);", ,, Motor Position Counter,"// motor position counter clear_motor_position_counter(3); while (get_motor_position_counter(3) < 4000) { motor(3,50); motor (0,50); } ao();","Counts ""ticks""-complete wheel rotation Your motors have approximately 1820 ticks per revolution"

backwards,"//backward motor(0,-100); motor(1,-100); motor(2,-100); motor(3,-100); msleep(3000); " , forwards,"//forward motor(1,100); motor(2,100); motor(3,100); msleep(3000); " , left diagonal,"//left diagonal void turn_left_90(); int main() { turn_left_90(); return 0; } void turn_left_90() { cmpc(1); while (gmpc(1)< 1350) { motor(0,0); motor(1,100); motor(2,0); motor(3,100); } ao(); }" , left sideways,"//left sideways int main() { turn_left_90(); return 0; } void turn_left_90() { cmpc(0); while (gmpc(0)< 1350) { motor(0,100); motor(1,-100); motor(2,100); motor(3,-100); } ao(); }" , right diagonal,"//right diagonal int main() { turn_left_90(); return 0; } void turn_left_90() { cmpc(0); while (gmpc(0)< 1350) { motor(0,100); motor(1,0); motor(2,100); motor(3,0); } ao(); }" , right sideways,"//right sideways int main() { turn_left_90(); return 0; } void turn_left_90() { cmpc(0); while (gmpc(0)< 1350) { motor(0,-100); motor(1,100); motor(2,-100); motor(3,100); } ao(); }" , Motor Position Counter (maybe),"int main() { turn_left_90(); return 0; //mpc } void turn_left_90() { cmpc(0); while (gmpc(0)< 1350) { motor(0,100); motor(1,-100); motor(2,100); motor(3,-100); ao(); } void forward() { cmpc (0); while (gmpc(0)<2000) { motor(0,100); motor(1,100); motor(2,100); motor(3,100); msleep(3000); ao();"