GalileoBotball / Botball Library

#include <kipr/wombat.h> // ============================================================ // ET SENSOR - DISTANCE // ============================================================ // Drive forward until ET sensor reads an obstacle (analog > 2900) void et_sensor_example() { while (analog(1) <= 2900) { motor(0, 50); motor(3, 50); } ao(); msleep(100); } // ============================================================ // IR SENSOR / TOPHAT (Large or Small) // ============================================================ // Find black: move forward until black detected, then back up off it void find_black() { // Move forward until black is detected while (analog(1) <= 1580) { printf("start loop move forward\n"); motor(0, 80); motor(3, 80); } // Move backward until black is no longer detected while (analog(1) >= 1580) { printf("start loop move backward\n"); motor(0, -80); motor(3, -80); } printf("start loop stops\n"); ao(); msleep(100); } // Follow the line (single sensor, basic) void follow_line_basic() { cmpc(0); while (gmpc(0) < 40000) { if (analog(1) < 3500) { motor(0, 80); motor(3, 5); } else { motor(0, 5); motor(3, 80); } } } // Follow the line (single sensor, race speed with correction) void follow_line_race() { printf("follow the line 23.95\n"); int right = 0; int left = 0; cmpc(0); while (gmpc(0) < 20000) { if (analog(0) > 3750) { motor(0, 25 - right); motor(3, 100); msleep(1); right = right + 1; left = left - 1; msleep(1); } if (analog(0) < 3750) { 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); } } // Follow the line (two sensors, with lever sensor stop) void follow_line_two_sensors() { int difference = 2000; while (digital(0) == 0) { // while lever sensor is not pressed if (analog(1) <= difference && analog(0) <= difference) { // Both sensors on white: go forward motor(0, 50); motor(3, 50); msleep(25); printf("1\n"); } else if (analog(1) <= difference) { // Sensor 1 on white: turn right motor(0, -10); motor(3, 50); msleep(25); printf("2\n"); } else if (analog(0) <= difference) { // Sensor 0 on white: turn left motor(0, 50); motor(3, -10); msleep(25); printf("3\n"); } else { // Both sensors on black: go forward motor(0, 100); motor(3, 100); msleep(25); printf("4\n"); } } }

#include <kipr/wombat.h> // ============================================================ // ENABLE / DISABLE SERVOS // ============================================================ void turn_arm_on() { enable_servos(); } void turn_arm_off() { disable_servos(); } // ============================================================ // SET START POSITION // ============================================================ void set_start_position() { set_servo_position(0, 734); } // ============================================================ // ARM ROTATION // ============================================================ void rotate_up() { set_servo_position(0, 724); msleep(1000); } void rotate_down() { set_servo_position(0, 1824); msleep(1000); } // ============================================================ // CLAW // ============================================================ void claw_open() { set_servo_position(3, 724); msleep(1000); } void claw_close() { set_servo_position(3, 1933); msleep(1000); } // ============================================================ // HELPER: RUN SERVO TO POSITION // ============================================================ // Moves servo on 'port' to 'position', then stops all motors void RunStart(int port, int position) { enable_servos(); set_servo_position(port, position); ao(); msleep(100); }

#include <kipr/wombat.h> // ============================================================ // CAMERA - FIND OBJECTS // ============================================================ // No code has been added here yet. // // Reference: KIPR Camera Curriculum // https://www.kipr.org/wombat-curriculum/camera

#include <kipr/wombat.h> // ============================================================ // TOUCH SENSOR (Lever, Small Touch, Large Touch) // ============================================================ // Drive forward until touch sensor 0 is pressed, // then drive backward until touch sensor 1 is pressed void touch_sensor_example() { 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); } // ============================================================ // WAIT FOR LIGHT // ============================================================ void wait_for_light_example() { wait_for_light(0); } // Wait for light with button confirmation void wait_for_light_with_button() { if (push_button() == 1) { wait_for_light(0); } } // ============================================================ // SHUT DOWN // ============================================================ // Shuts down all motors after 119 seconds (just under 2 minutes) void shutdown_example() { shut_down_in(119); }

#include <kipr/wombat.h> // ============================================================ // PAUSE // ============================================================ // Stop all motors and wait 2 seconds void pause_example() { ao(); msleep(2000); } // ============================================================ // FORWARD // ============================================================ void forward_example() { motor(0, 100); motor(3, 100); msleep(250); } // Forward using MAV (Motor Absolute Velocity) void Move(int l_power, int r_power, int time) { mav(0, l_power); mav(3, r_power); msleep(time); ao(); sleep(100); } // ============================================================ // BACKWARD // ============================================================ void backward_example() { motor(0, -100); motor(3, -100); msleep(250); } // ============================================================ // TURN 90 DEGREES RIGHT // ============================================================ void turn_right_90() { motor(0, 0); motor(3, 100); msleep(1500); } // ============================================================ // TURN 90 DEGREES LEFT // ============================================================ void turn_left_90() { motor(0, 100); motor(3, 0); msleep(1500); } // ============================================================ // MOTOR POSITION COUNTER // ============================================================ // Counts "ticks" - one complete wheel rotation // Motors have approximately 1820 ticks per revolution void motor_position_counter_example() { clear_motor_position_counter(3); while (get_motor_position_counter(3) < 4000) { motor(3, 50); motor(0, 50); } ao(); }

#include <kipr/wombat.h> // ============================================================ // BACKWARD // ============================================================ void backward() { motor(0, -100); motor(1, -100); motor(2, -100); motor(3, -100); msleep(3000); } // ============================================================ // FORWARD // ============================================================ void forward() { motor(1, 100); motor(2, 100); motor(3, 100); msleep(3000); } // ============================================================ // LEFT DIAGONAL // ============================================================ // ⚠️ NOTE: This function is named turn_left_90 but implements // a LEFT DIAGONAL movement, not a 90-degree turn. Rename before // using in competition code. void turn_left_90_LEFT_DIAGONAL() { cmpc(1); while (gmpc(1) < 1350) { motor(0, 0); motor(1, 100); motor(2, 0); motor(3, 100); } ao(); } // ============================================================ // LEFT SIDEWAYS // ============================================================ // ⚠️ NOTE: This function is named turn_left_90 but implements // a LEFT SIDEWAYS (strafe) movement. Rename before using in // competition code. void turn_left_90_LEFT_SIDEWAYS() { cmpc(0); while (gmpc(0) < 1350) { motor(0, 100); motor(1, -100); motor(2, 100); motor(3, -100); } ao(); } // ============================================================ // RIGHT DIAGONAL // ============================================================ // ⚠️ NOTE: This function is named turn_left_90 but implements // a RIGHT DIAGONAL movement. Rename before using in competition // code. void turn_left_90_RIGHT_DIAGONAL() { cmpc(0); while (gmpc(0) < 1350) { motor(0, 100); motor(1, 0); motor(2, 100); motor(3, 0); } ao(); } // ============================================================ // RIGHT SIDEWAYS // ============================================================ // ⚠️ NOTE: This function is named turn_left_90 but implements // a RIGHT SIDEWAYS (strafe) movement. Rename before using in // competition code. void turn_left_90_RIGHT_SIDEWAYS() { cmpc(0); while (gmpc(0) < 1350) { motor(0, -100); motor(1, 100); motor(2, -100); motor(3, 100); } ao(); } // ============================================================ // MOTOR POSITION COUNTER (FORWARD WITH MPC) // ============================================================ // ⚠️ NOTE: This snippet has structural issues — the forward() // function is defined inside turn_left_90() and the code is // missing closing braces. Needs a full rewrite before use. // Preserved here as-is for reference only. /* void turn_left_90_MPC_BROKEN() { cmpc(0); while (gmpc(0) < 1350) { motor(0, 100); motor(1, -100); motor(2, 100); motor(3, -100); ao(); } void forward() { // <-- function defined inside function: NOT valid C cmpc(0); while (gmpc(0) < 2000) { motor(0, 100); motor(1, 100); motor(2, 100); motor(3, 100); msleep(3000); ao(); // missing closing braces */

// Test program: verifies all motors and servos are functioning. // Run this on the robot before competition to check hardware. #include <kipr/wombat.h> void test_servo(int 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(int port) { printf("testing motor %d\n", port); printf("\tforward 2 seconds\n"); motor(port, 100); msleep(2000); printf("\tbackward 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; }