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16 files changed, 436 insertions, 419 deletions

Analog_Sensor.c(file created)

@@ -0,0 +1,110 @@
1 + #include <kipr/wombat.h>
2 +
3 + // ============================================================
4 + // ET SENSOR - DISTANCE
5 + // ============================================================
6 + // Drive forward until ET sensor reads an obstacle (analog > 2900)
7 + void et_sensor_example() {
8 + while (analog(1) <= 2900) {
9 + motor(0, 50);
10 + motor(3, 50);
11 + }
12 + ao();
13 + msleep(100);
14 + }
15 +
16 + // ============================================================
17 + // IR SENSOR / TOPHAT (Large or Small)
18 + // ============================================================
19 +
20 + // Find black: move forward until black detected, then back up off it
21 + void find_black() {
22 + // Move forward until black is detected
23 + while (analog(1) <= 1580) {
24 + printf("start loop move forward\n");
25 + motor(0, 80);
26 + motor(3, 80);
27 + }
28 + // Move backward until black is no longer detected
29 + while (analog(1) >= 1580) {
30 + printf("start loop move backward\n");
31 + motor(0, -80);
32 + motor(3, -80);
33 + }
34 + printf("start loop stops\n");
35 + ao();
36 + msleep(100);
37 + }
38 +
39 + // Follow the line (single sensor, basic)
40 + void follow_line_basic() {
41 + cmpc(0);
42 + while (gmpc(0) < 40000) {
43 + if (analog(1) < 3500) {
44 + motor(0, 80);
45 + motor(3, 5);
46 + } else {
47 + motor(0, 5);
48 + motor(3, 80);
49 + }
50 + }
51 + }
52 +
53 + // Follow the line (single sensor, race speed with correction)
54 + void follow_line_race() {
55 + printf("follow the line 23.95\n");
56 + int right = 0;
57 + int left = 0;
58 + cmpc(0);
59 + while (gmpc(0) < 20000) {
60 + if (analog(0) > 3750) {
61 + motor(0, 25 - right);
62 + motor(3, 100);
63 + msleep(1);
64 + right = right + 1;
65 + left = left - 1;
66 + msleep(1);
67 + }
68 + if (analog(0) < 3750) {
69 + motor(3, 25 - left);
70 + motor(0, 100);
71 + msleep(1);
72 + left = left + 1;
73 + right = right - 1;
74 + msleep(1);
75 + }
76 + printf("left %d and right %d\n", left, right);
77 + }
78 + }
79 +
80 + // Follow the line (two sensors, with lever sensor stop)
81 + void follow_line_two_sensors() {
82 + int difference = 2000;
83 + while (digital(0) == 0) { // while lever sensor is not pressed
84 + if (analog(1) <= difference && analog(0) <= difference) {
85 + // Both sensors on white: go forward
86 + motor(0, 50);
87 + motor(3, 50);
88 + msleep(25);
89 + printf("1\n");
90 + } else if (analog(1) <= difference) {
91 + // Sensor 1 on white: turn right
92 + motor(0, -10);
93 + motor(3, 50);
94 + msleep(25);
95 + printf("2\n");
96 + } else if (analog(0) <= difference) {
97 + // Sensor 0 on white: turn left
98 + motor(0, 50);
99 + motor(3, -10);
100 + msleep(25);
101 + printf("3\n");
102 + } else {
103 + // Both sensors on black: go forward
104 + motor(0, 100);
105 + motor(3, 100);
106 + msleep(25);
107 + printf("4\n");
108 + }
109 + }
110 + }

Arm.c(file created)

@@ -0,0 +1,56 @@
1 + #include <kipr/wombat.h>
2 +
3 + // ============================================================
4 + // ENABLE / DISABLE SERVOS
5 + // ============================================================
6 + void turn_arm_on() {
7 + enable_servos();
8 + }
9 +
10 + void turn_arm_off() {
11 + disable_servos();
12 + }
13 +
14 + // ============================================================
15 + // SET START POSITION
16 + // ============================================================
17 + void set_start_position() {
18 + set_servo_position(0, 734);
19 + }
20 +
21 + // ============================================================
22 + // ARM ROTATION
23 + // ============================================================
24 + void rotate_up() {
25 + set_servo_position(0, 724);
26 + msleep(1000);
27 + }
28 +
29 + void rotate_down() {
30 + set_servo_position(0, 1824);
31 + msleep(1000);
32 + }
33 +
34 + // ============================================================
35 + // CLAW
36 + // ============================================================
37 + void claw_open() {
38 + set_servo_position(3, 724);
39 + msleep(1000);
40 + }
41 +
42 + void claw_close() {
43 + set_servo_position(3, 1933);
44 + msleep(1000);
45 + }
46 +
47 + // ============================================================
48 + // HELPER: RUN SERVO TO POSITION
49 + // ============================================================
50 + // Moves servo on 'port' to 'position', then stops all motors
51 + void RunStart(int port, int position) {
52 + enable_servos();
53 + set_servo_position(port, position);
54 + ao();
55 + msleep(100);
56 + }

Botball Code Library(Drive).csv (file deleted)

@@ -1,44 +0,0 @@
1 - Drive,,
2 - Task,Code,Notes
3 - ,,
4 - Pause,"// pause
5 - ao();
6 - msleep(2000);",
7 - ,,
8 - Forward,"// forward
9 - motor (0,100);
10 - motor (3,100);
11 - msleep (250);","//if using MAV
12 - void Move(int l_power,int r_power,int time)
13 - {mav(0,l_power);
14 - mav(3,r_power);
15 - msleep(time);
16 - ao();
17 - sleep(100); }"
18 - ,,
19 - Backward,"// backward
20 - motor (0,-100);
21 - motor (3,-100);
22 - msleep (250);",
23 - ,,
24 - Turn 90 Degrees Right,"// 90 degree turn right
25 - motor(0,0);
26 - motor(3,100);
27 - msleep (1500);",
28 - ,,
29 - Turn 90 Degrees Left,"// 90 degree turn Left
30 - motor(0,100);
31 - motor(3,0);
32 - msleep (1500);",
33 - ,,
34 - Motor Position Counter,"// motor position counter
35 - clear_motor_position_counter(3);
36 - while (get_motor_position_counter(3) < 4000)
37 - {
38 - motor(3,50);
39 - motor (0,50);
40 - }
41 - ao();","Counts ""ticks""-complete wheel rotation
42 - Your motors have approximately 1820 ticks per revolution"
43 - ,,
44 - ,,

Botball Code Library.xlsx (file deleted)

Binary file changes are not shown

Camera.c(file created)

@@ -0,0 +1,9 @@
1 + #include <kipr/wombat.h>
2 +
3 + // ============================================================
4 + // CAMERA - FIND OBJECTS
5 + // ============================================================
6 + // No code has been added here yet.
7 + //
8 + // Reference: KIPR Camera Curriculum
9 + // https://www.kipr.org/wombat-curriculum/camera

Compiled_Code.c(file created)

@@ -0,0 +1,38 @@
1 + // Test program: verifies all motors and servos are functioning.
2 + // Run this on the robot before competition to check hardware.
3 +
4 + #include <kipr/wombat.h>
5 +
6 + void test_servo(int port) {
7 + printf("testing servo %d\n", port);
8 + printf("\tup 2 seconds\n");
9 + enable_servo(port);
10 + enable_servos();
11 + set_servo_position(port, 0);
12 + msleep(2000);
13 + set_servo_position(port, 2047);
14 + msleep(2000);
15 + disable_servo(port);
16 + disable_servos();
17 + }
18 +
19 + void test_motor(int port) {
20 + printf("testing motor %d\n", port);
21 + printf("\tforward 2 seconds\n");
22 + motor(port, 100);
23 + msleep(2000);
24 + printf("\tbackward 2 seconds\n");
25 + motor(port, -100);
26 + msleep(2000);
27 + ao();
28 + }
29 +
30 + int main() {
31 + test_motor(0);
32 + test_motor(1);
33 + test_motor(2);
34 + test_motor(3);
35 + test_servo(0);
36 + test_servo(1);
37 + return 0;
38 + }

Digital_Sensor.c(file created)

@@ -0,0 +1,44 @@
1 + #include <kipr/wombat.h>
2 +
3 + // ============================================================
4 + // TOUCH SENSOR (Lever, Small Touch, Large Touch)
5 + // ============================================================
6 + // Drive forward until touch sensor 0 is pressed,
7 + // then drive backward until touch sensor 1 is pressed
8 + void touch_sensor_example() {
9 + while (digital(0) == 0) {
10 + motor(0, 100);
11 + motor(3, 100);
12 + }
13 + ao();
14 + msleep(1000);
15 +
16 + while (digital(1) == 0) {
17 + motor(0, -100);
18 + motor(3, -100);
19 + }
20 + ao();
21 + msleep(1000);
22 + }
23 +
24 + // ============================================================
25 + // WAIT FOR LIGHT
26 + // ============================================================
27 + void wait_for_light_example() {
28 + wait_for_light(0);
29 + }
30 +
31 + // Wait for light with button confirmation
32 + void wait_for_light_with_button() {
33 + if (push_button() == 1) {
34 + wait_for_light(0);
35 + }
36 + }
37 +
38 + // ============================================================
39 + // SHUT DOWN
40 + // ============================================================
41 + // Shuts down all motors after 119 seconds (just under 2 minutes)
42 + void shutdown_example() {
43 + shut_down_in(119);
44 + }

Drive.c

@@ -1,43 +1,69 @@
1 - // pause
1 + #include <kipr/wombat.h>
2 +
3 + // ============================================================
4 + // PAUSE
5 + // ============================================================
6 + // Stop all motors and wait 2 seconds
7 + void pause_example() {
2 8 ao();
3 - msleep(2000);"
9 + msleep(2000);
10 + }
4 11
12 + // ============================================================
13 + // FORWARD
14 + // ============================================================
15 + void forward_example() {
16 + motor(0, 100);
17 + motor(3, 100);
18 + msleep(250);
19 + }
5 20
6 - // forward
7 - motor (0,100);
8 - motor (3,100);
9 - msleep (250);"
21 + // Forward using MAV (Motor Absolute Velocity)
22 + void Move(int l_power, int r_power, int time) {
23 + mav(0, l_power);
24 + mav(3, r_power);
25 + msleep(time);
26 + ao();
27 + sleep(100);
28 + }
10 29
30 + // ============================================================
31 + // BACKWARD
32 + // ============================================================
33 + void backward_example() {
34 + motor(0, -100);
35 + motor(3, -100);
36 + msleep(250);
37 + }
11 38
12 - // 90 degree turn right
13 - motor(0,0);
14 - motor(3,100);
15 - msleep (1500);"
39 + // ============================================================
40 + // TURN 90 DEGREES RIGHT
41 + // ============================================================
42 + void turn_right_90() {
43 + motor(0, 0);
44 + motor(3, 100);
45 + msleep(1500);
46 + }
16 47
48 + // ============================================================
49 + // TURN 90 DEGREES LEFT
50 + // ============================================================
51 + void turn_left_90() {
52 + motor(0, 100);
53 + motor(3, 0);
54 + msleep(1500);
55 + }
17 56
18 - // 90 degree turn Left
19 - motor(0,100);
20 - motor(3,0);
21 - msleep (1500);
22 -
23 -
24 - /*Counts "ticks"-complete wheel rotation
25 - Your motors have approximately 1820 ticks per revolution
26 - */
27 - // motor position counter
28 - clear_motor_position_counter(3);
29 - while (get_motor_position_counter(3) < 4000)
30 - {
31 - motor(3,50);
32 - motor (0,50);
57 + // ============================================================
58 + // MOTOR POSITION COUNTER
59 + // ============================================================
60 + // Counts "ticks" - one complete wheel rotation
61 + // Motors have approximately 1820 ticks per revolution
62 + void motor_position_counter_example() {
63 + clear_motor_position_counter(3);
64 + while (get_motor_position_counter(3) < 4000) {
65 + motor(3, 50);
66 + motor(0, 50);
33 67 }
34 68 ao();
35 -
36 -
37 - //if using MAV
38 - void Move(int l_power,int r_power,int time)
39 - {mav(0,l_power);
40 - mav(3,r_power);
41 - msleep(time);
42 - ao();
43 - sleep(100); }
69 + }

Mecanum_Drive.c(file created)

@@ -0,0 +1,119 @@
1 + #include <kipr/wombat.h>
2 +
3 + // ============================================================
4 + // BACKWARD
5 + // ============================================================
6 + void backward() {
7 + motor(0, -100);
8 + motor(1, -100);
9 + motor(2, -100);
10 + motor(3, -100);
11 + msleep(3000);
12 + }
13 +
14 + // ============================================================
15 + // FORWARD
16 + // ============================================================
17 + void forward() {
18 + motor(1, 100);
19 + motor(2, 100);
20 + motor(3, 100);
21 + msleep(3000);
22 + }
23 +
24 + // ============================================================
25 + // LEFT DIAGONAL
26 + // ============================================================
27 + // ⚠️ NOTE: This function is named turn_left_90 but implements
28 + // a LEFT DIAGONAL movement, not a 90-degree turn. Rename before
29 + // using in competition code.
30 + void turn_left_90_LEFT_DIAGONAL() {
31 + cmpc(1);
32 + while (gmpc(1) < 1350) {
33 + motor(0, 0);
34 + motor(1, 100);
35 + motor(2, 0);
36 + motor(3, 100);
37 + }
38 + ao();
39 + }
40 +
41 + // ============================================================
42 + // LEFT SIDEWAYS
43 + // ============================================================
44 + // ⚠️ NOTE: This function is named turn_left_90 but implements
45 + // a LEFT SIDEWAYS (strafe) movement. Rename before using in
46 + // competition code.
47 + void turn_left_90_LEFT_SIDEWAYS() {
48 + cmpc(0);
49 + while (gmpc(0) < 1350) {
50 + motor(0, 100);
51 + motor(1, -100);
52 + motor(2, 100);
53 + motor(3, -100);
54 + }
55 + ao();
56 + }
57 +
58 + // ============================================================
59 + // RIGHT DIAGONAL
60 + // ============================================================
61 + // ⚠️ NOTE: This function is named turn_left_90 but implements
62 + // a RIGHT DIAGONAL movement. Rename before using in competition
63 + // code.
64 + void turn_left_90_RIGHT_DIAGONAL() {
65 + cmpc(0);
66 + while (gmpc(0) < 1350) {
67 + motor(0, 100);
68 + motor(1, 0);
69 + motor(2, 100);
70 + motor(3, 0);
71 + }
72 + ao();
73 + }
74 +
75 + // ============================================================
76 + // RIGHT SIDEWAYS
77 + // ============================================================
78 + // ⚠️ NOTE: This function is named turn_left_90 but implements
79 + // a RIGHT SIDEWAYS (strafe) movement. Rename before using in
80 + // competition code.
81 + void turn_left_90_RIGHT_SIDEWAYS() {
82 + cmpc(0);
83 + while (gmpc(0) < 1350) {
84 + motor(0, -100);
85 + motor(1, 100);
86 + motor(2, -100);
87 + motor(3, 100);
88 + }
89 + ao();
90 + }
91 +
92 + // ============================================================
93 + // MOTOR POSITION COUNTER (FORWARD WITH MPC)
94 + // ============================================================
95 + // ⚠️ NOTE: This snippet has structural issues — the forward()
96 + // function is defined inside turn_left_90() and the code is
97 + // missing closing braces. Needs a full rewrite before use.
98 + // Preserved here as-is for reference only.
99 + /*
100 + void turn_left_90_MPC_BROKEN() {
101 + cmpc(0);
102 + while (gmpc(0) < 1350) {
103 + motor(0, 100);
104 + motor(1, -100);
105 + motor(2, 100);
106 + motor(3, -100);
107 + ao();
108 + }
109 + void forward() { // <-- function defined inside function: NOT valid C
110 + cmpc(0);
111 + while (gmpc(0) < 2000) {
112 + motor(0, 100);
113 + motor(1, 100);
114 + motor(2, 100);
115 + motor(3, 100);
116 + msleep(3000);
117 + ao();
118 + // missing closing braces
119 + */

Untitled spreadsheet - Analog Sensor.csv (file deleted)

@@ -1,99 +0,0 @@
1 - Analog Sensor,,,,
2 - Task,Code,,Notes,
3 - ,,,,
4 - ET,"//measure distance
5 - while (analog (1)<=2900)
6 - {
7 - motor(0,50);
8 - motor(3,50);
9 - }
10 - //pause
11 - ao();
12 - msleep(100);",,,
13 - ,,,,
14 - "IR Sensor:
15 - Large/
16 - Small Tophat","//Find Black
17 - //move forward until black is detected
18 - while (analog(1)<=1580)//stop on black
19 - {
20 - printf(""start loop move forawrd\n"");
21 - motor (0,80);
22 - motor (3,80);
23 - }
24 - //move bakward until black is no longer deteted
25 - while (analog (1)>=1580)//stop on black
26 -
27 - {
28 - printf(""start loop move backward\n"");
29 - motor(0,-80);
30 - motor(3,-80);
31 - }
32 -
33 - printf(""start loop stops\n"");
34 -
35 - //pause
36 - ao();
37 - msleep(100); ","//follow the line
38 - cmpc(0);
39 - while (gmpc(0) < 40000){
40 - if (analog(1)<3500){
41 - motor (0,80);
42 - motor (3,5);
43 - }
44 - else{
45 - motor (0,5);
46 - motor (3,80);}
47 - }
48 - return 0;
49 - }","//Follow the line Race
50 - #include <kipr/wombat.h> #define black 3750 int main()
51 - { printf(""follow the line 23.95\n"");
52 - int right = 0;
53 - //3 biger then one int left = 0;
54 - cmpc(0);
55 - while (gmpc(0) < 20000) { if (analog(0) > black) { motor (0,25 - right);
56 - motor (3,100);
57 - msleep(1);
58 - right = right + 1;
59 - left = left - 1;
60 - msleep(1);
61 - } if (analog(0) < black) { motor(3,25 - left); motor (0,100);
62 - msleep(1);
63 - left = left + 1;
64 - right = right - 1;
65 - msleep(1);
66 - } printf(""left %d and right %d\n"",left, right);
67 - }
68 - return 0;
69 - }","//Follow the line with 2 sensors
70 - #include <kipr/wombat.h> int main() { int difference=2000;
71 - while(digital(0)==0) { //while lever sensor is not pressed
72 - if (analog(1)<=difference && analog(0)<=difference){ //if both tophat sensors are on white go forwards
73 - motor(0,50);
74 - motor(3,50);
75 - msleep(25);
76 - printf(""1\n"");
77 - }
78 - else if (analog(1)<=difference) { //if tophat sensor 1 is on white, turn right motor(0,-10);
79 - motor(3,50);
80 - msleep(25);
81 - printf(""2\n"");
82 - }
83 - else if (analog(0)<=difference) { //if tophat sensor 0 is on white, turn left motor(0,50);
84 - motor(3,-10);
85 - msleep(25);
86 - printf(""3\n"");
87 - }
88 - else{ //if both sensors are on black go forwards
89 - motor(0,100);
90 - motor(3,100);
91 - msleep(25);
92 - printf(""4\n"");
93 - }
94 - }
95 - return 0; }"
96 - ,,,,
97 - ,,,,
98 - ,,,,
99 - Linear Slide,,,,

GalileoBotball revised this gist 2 months ago. Go to revision

7 files changed, 341 insertions

Untitled spreadsheet - Analog Sensor.csv (file created)

@@ -0,0 +1,99 @@
1 + Analog Sensor,,,,
2 + Task,Code,,Notes,
3 + ,,,,
4 + ET,"//measure distance
5 + while (analog (1)<=2900)
6 + {
7 + motor(0,50);
8 + motor(3,50);
9 + }
10 + //pause
11 + ao();
12 + msleep(100);",,,
13 + ,,,,
14 + "IR Sensor:
15 + Large/
16 + Small Tophat","//Find Black
17 + //move forward until black is detected
18 + while (analog(1)<=1580)//stop on black
19 + {
20 + printf(""start loop move forawrd\n"");
21 + motor (0,80);
22 + motor (3,80);
23 + }
24 + //move bakward until black is no longer deteted
25 + while (analog (1)>=1580)//stop on black
26 +
27 + {
28 + printf(""start loop move backward\n"");
29 + motor(0,-80);
30 + motor(3,-80);
31 + }
32 +
33 + printf(""start loop stops\n"");
34 +
35 + //pause
36 + ao();
37 + msleep(100); ","//follow the line
38 + cmpc(0);
39 + while (gmpc(0) < 40000){
40 + if (analog(1)<3500){
41 + motor (0,80);
42 + motor (3,5);
43 + }
44 + else{
45 + motor (0,5);
46 + motor (3,80);}
47 + }
48 + return 0;
49 + }","//Follow the line Race
50 + #include <kipr/wombat.h> #define black 3750 int main()
51 + { printf(""follow the line 23.95\n"");
52 + int right = 0;
53 + //3 biger then one int left = 0;
54 + cmpc(0);
55 + while (gmpc(0) < 20000) { if (analog(0) > black) { motor (0,25 - right);
56 + motor (3,100);
57 + msleep(1);
58 + right = right + 1;
59 + left = left - 1;
60 + msleep(1);
61 + } if (analog(0) < black) { motor(3,25 - left); motor (0,100);
62 + msleep(1);
63 + left = left + 1;
64 + right = right - 1;
65 + msleep(1);
66 + } printf(""left %d and right %d\n"",left, right);
67 + }
68 + return 0;
69 + }","//Follow the line with 2 sensors
70 + #include <kipr/wombat.h> int main() { int difference=2000;
71 + while(digital(0)==0) { //while lever sensor is not pressed
72 + if (analog(1)<=difference && analog(0)<=difference){ //if both tophat sensors are on white go forwards
73 + motor(0,50);
74 + motor(3,50);
75 + msleep(25);
76 + printf(""1\n"");
77 + }
78 + else if (analog(1)<=difference) { //if tophat sensor 1 is on white, turn right motor(0,-10);
79 + motor(3,50);
80 + msleep(25);
81 + printf(""2\n"");
82 + }
83 + else if (analog(0)<=difference) { //if tophat sensor 0 is on white, turn left motor(0,50);
84 + motor(3,-10);
85 + msleep(25);
86 + printf(""3\n"");
87 + }
88 + else{ //if both sensors are on black go forwards
89 + motor(0,100);
90 + motor(3,100);
91 + msleep(25);
92 + printf(""4\n"");
93 + }
94 + }
95 + return 0; }"
96 + ,,,,
97 + ,,,,
98 + ,,,,
99 + Linear Slide,,,,

Untitled spreadsheet - Arm.csv (file created)

@@ -0,0 +1,31 @@
1 + Arm,,
2 + Task,Code,Notes
3 + ,,
4 + Turn Arm On,enable_servos();,
5 + ,,
6 + Turn Arm Off,disable_servos();,
7 + ,,
8 + Set Start Position,"set_servo_position(0,734);",
9 + ,,
10 + Rotate Up,"//up
11 + set_servo_position(0,724);
12 + msleep(1000);",
13 + ,,
14 + Rotate Down,"//down
15 + set_servo_position(0,1824);
16 + msleep(1000);",
17 + ,,
18 + Claw Open ,"//open
19 + set_servo_position(3,724);
20 + msleep(1000);",
21 + ,,
22 + Claw Closed,"//close
23 + set_servo_position(3,1933);
24 + msleep(1000);",
25 + ,,
26 + Servos Movement,"void RunStart(int port,int sleep)
27 + {
28 + enable_servos(); set_servo_position(port,sleep);
29 + ao();
30 + msleep(100);
31 + }",

Untitled spreadsheet - Camera.csv (file created)

@@ -0,0 +1,13 @@
1 + Camera,,
2 + Task,Code,Notes
3 + Find Objects,,
4 + ,,
5 + ,,
6 + ,,
7 + ,,
8 + ,,
9 + ,,
10 + ,,
11 + ,,
12 + ,,"KIP Camera Curriculum Link
13 + https://www.kipr.org/wombat-curriculum/camera "

Untitled spreadsheet - Compiled Code.csv (file created)

@@ -0,0 +1,3 @@
1 + "//Code to test if all on bot is working
2 +
3 + #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; }"

Untitled spreadsheet - Digital Sensor.csv (file created)

@@ -0,0 +1,27 @@
1 + Digital Sensor,,
2 + Task,Code,Notes
3 + ,,
4 + "Touch Sensor:
5 + -Lever
6 + -Small Touch
7 + -Large Touch"," //Touch Sensor
8 + while (digital (0)==0)
9 + {
10 + motor (0,100);
11 + motor (3,100);
12 + }
13 + ao();
14 + msleep(1000);
15 +
16 + while (digital(1)==0)
17 + {
18 + motor (0,-100);
19 + motor (3,-100);
20 + }
21 + ao();
22 + msleep(1000);",buttons
23 + wait for light code,"//wait for light
24 + wait_for_light (0);","//wait for light with button
25 + if(push_button() ==1 {wait_for_light (0);}"
26 + shut down,"// Shuts down all motors after 119 seconds (just less than 2 minutes).
27 + shut_down_in(119);",

Untitled spreadsheet - Drive.csv (file created)

@@ -0,0 +1,42 @@
1 + Drive,,
2 + Task,Code,Notes
3 + ,,
4 + Pause,"// pause
5 + ao();
6 + msleep(2000);",
7 + ,,
8 + Forward,"// forward
9 + motor (0,100);
10 + motor (3,100);
11 + msleep (250);","//if using MAV
12 + void Move(int l_power,int r_power,int time)
13 + {mav(0,l_power);
14 + mav(3,r_power);
15 + msleep(time);
16 + ao();
17 + sleep(100); }"
18 + ,,
19 + Backward,"// backward
20 + motor (0,-100);
21 + motor (3,-100);
22 + msleep (250);",
23 + ,,
24 + Turn 90 Degrees Right,"// 90 degree turn right
25 + motor(0,0);
26 + motor(3,100);
27 + msleep (1500);",
28 + ,,
29 + Turn 90 Degrees Left,"// 90 degree turn Left
30 + motor(0,100);
31 + motor(3,0);
32 + msleep (1500);",
33 + ,,
34 + Motor Position Counter,"// motor position counter
35 + clear_motor_position_counter(3);
36 + while (get_motor_position_counter(3) < 4000)
37 + {
38 + motor(3,50);
39 + motor (0,50);
40 + }
41 + ao();","Counts ""ticks""-complete wheel rotation
42 + Your motors have approximately 1820 ticks per revolution"

Untitled spreadsheet - Mecanum Drive.csv (file created)

@@ -0,0 +1,126 @@
1 + backwards,"//backward
2 + motor(0,-100);
3 + motor(1,-100);
4 + motor(2,-100);
5 + motor(3,-100);
6 + msleep(3000);
7 + "
8 + ,
9 + forwards,"//forward
10 + motor(1,100);
11 + motor(2,100);
12 + motor(3,100);
13 + msleep(3000);
14 + "
15 + ,
16 + left diagonal,"//left diagonal
17 + void turn_left_90();
18 +
19 + int main()
20 + {
21 + turn_left_90();
22 + return 0;
23 + }
24 +
25 + void turn_left_90()
26 + {
27 + cmpc(1);
28 + while (gmpc(1)< 1350)
29 + {
30 + motor(0,0);
31 + motor(1,100);
32 + motor(2,0);
33 + motor(3,100);
34 + }
35 + ao();
36 + }"
37 + ,
38 + left sideways,"//left sideways
39 + int main()
40 + {
41 + turn_left_90();
42 + return 0;
43 + }
44 +
45 + void turn_left_90()
46 + {
47 + cmpc(0);
48 + while (gmpc(0)< 1350)
49 + {
50 + motor(0,100);
51 + motor(1,-100);
52 + motor(2,100);
53 + motor(3,-100);
54 + }
55 + ao();
56 + }"
57 + ,
58 + right diagonal,"//right diagonal
59 + int main()
60 + {
61 + turn_left_90();
62 + return 0;
63 + }
64 +
65 + void turn_left_90()
66 + {
67 + cmpc(0);
68 + while (gmpc(0)< 1350)
69 + {
70 + motor(0,100);
71 + motor(1,0);
72 + motor(2,100);
73 + motor(3,0);
74 + }
75 + ao();
76 + }"
77 + ,
78 + right sideways,"//right sideways
79 + int main()
80 + {
81 + turn_left_90();
82 + return 0;
83 + }
84 +
85 + void turn_left_90()
86 + {
87 + cmpc(0);
88 + while (gmpc(0)< 1350)
89 + {
90 + motor(0,-100);
91 + motor(1,100);
92 + motor(2,-100);
93 + motor(3,100);
94 + }
95 + ao();
96 + }"
97 + ,
98 + Motor Position Counter (maybe),"int main()
99 + {
100 + turn_left_90();
101 + return 0;
102 + //mpc
103 + }
104 +
105 + void turn_left_90()
106 + {
107 + cmpc(0);
108 + while (gmpc(0)< 1350)
109 + {
110 + motor(0,100);
111 + motor(1,-100);
112 + motor(2,100);
113 + motor(3,-100);
114 + ao();
115 + }
116 + void forward()
117 + {
118 + cmpc (0);
119 + while (gmpc(0)<2000)
120 + {
121 + motor(0,100);
122 + motor(1,100);
123 + motor(2,100);
124 + motor(3,100);
125 + msleep(3000);
126 + ao();"

GalileoBotball revised this gist 2 months ago. Go to revision

2 files changed, 16 insertions, 16 deletions

Botball Code Library(Drive).csv

@@ -1,10 +1,10 @@
1 - Drive,,
2 - Task,Code,Notes
3 - ,,
1 + Drive,,
2 + Task,Code,Notes
3 + ,,
4 4 Pause,"// pause
5 5 ao();
6 - msleep(2000);",
7 - ,,
6 + msleep(2000);",
7 + ,,
8 8 Forward,"// forward
9 9 motor (0,100);
10 10 motor (3,100);
@@ -14,23 +14,23 @@ void Move(int l_power,int r_power,int time)
14 14 mav(3,r_power);
15 15 msleep(time);
16 16 ao();
17 - sleep(100); }"
18 - ,,
17 + sleep(100); }"
18 + ,,
19 19 Backward,"// backward
20 20 motor (0,-100);
21 21 motor (3,-100);
22 - msleep (250);",
23 - ,,
22 + msleep (250);",
23 + ,,
24 24 Turn 90 Degrees Right,"// 90 degree turn right
25 25 motor(0,0);
26 26 motor(3,100);
27 - msleep (1500);",
28 - ,,
27 + msleep (1500);",
28 + ,,
29 29 Turn 90 Degrees Left,"// 90 degree turn Left
30 30 motor(0,100);
31 31 motor(3,0);
32 - msleep (1500);",
33 - ,,
32 + msleep (1500);",
33 + ,,
34 34 Motor Position Counter,"// motor position counter
35 35 clear_motor_position_counter(3);
36 36 while (get_motor_position_counter(3) < 4000)
@@ -39,6 +39,6 @@ Motor Position Counter,"// motor position counter
39 39 motor (0,50);
40 40 }
41 41 ao();","Counts ""ticks""-complete wheel rotation
42 - Your motors have approximately 1820 ticks per revolution"
43 - ,,
44 - ,,
42 + Your motors have approximately 1820 ticks per revolution"
43 + ,,
44 + ,,

Botball Code Library.xlsx(file created)

Binary file changes are not shown

GalileoBotball revised this gist 2 months ago. Go to revision

1 file changed, 44 insertions

Botball Code Library(Drive).csv (file created)

@@ -0,0 +1,44 @@
1 + Drive,,
2 + Task,Code,Notes
3 + ,,
4 + Pause,"// pause
5 + ao();
6 + msleep(2000);",
7 + ,,
8 + Forward,"// forward
9 + motor (0,100);
10 + motor (3,100);
11 + msleep (250);","//if using MAV
12 + void Move(int l_power,int r_power,int time)
13 + {mav(0,l_power);
14 + mav(3,r_power);
15 + msleep(time);
16 + ao();
17 + sleep(100); }"
18 + ,,
19 + Backward,"// backward
20 + motor (0,-100);
21 + motor (3,-100);
22 + msleep (250);",
23 + ,,
24 + Turn 90 Degrees Right,"// 90 degree turn right
25 + motor(0,0);
26 + motor(3,100);
27 + msleep (1500);",
28 + ,,
29 + Turn 90 Degrees Left,"// 90 degree turn Left
30 + motor(0,100);
31 + motor(3,0);
32 + msleep (1500);",
33 + ,,
34 + Motor Position Counter,"// motor position counter
35 + clear_motor_position_counter(3);
36 + while (get_motor_position_counter(3) < 4000)
37 + {
38 + motor(3,50);
39 + motor (0,50);
40 + }
41 + ao();","Counts ""ticks""-complete wheel rotation
42 + Your motors have approximately 1820 ticks per revolution"
43 + ,,
44 + ,,

GalileoBotball revised this gist 2 months ago. Go to revision

1 file changed, 43 insertions

Drive.c(file created)

@@ -0,0 +1,43 @@
1 + // pause
2 + ao();
3 + msleep(2000);"
4 +
5 +
6 + // forward
7 + motor (0,100);
8 + motor (3,100);
9 + msleep (250);"
10 +
11 +
12 + // 90 degree turn right
13 + motor(0,0);
14 + motor(3,100);
15 + msleep (1500);"
16 +
17 +
18 + // 90 degree turn Left
19 + motor(0,100);
20 + motor(3,0);
21 + msleep (1500);
22 +
23 +
24 + /*Counts "ticks"-complete wheel rotation
25 + Your motors have approximately 1820 ticks per revolution
26 + */
27 + // motor position counter
28 + clear_motor_position_counter(3);
29 + while (get_motor_position_counter(3) < 4000)
30 + {
31 + motor(3,50);
32 + motor (0,50);
33 + }
34 + ao();
35 +
36 +
37 + //if using MAV
38 + void Move(int l_power,int r_power,int time)
39 + {mav(0,l_power);
40 + mav(3,r_power);
41 + msleep(time);
42 + ao();
43 + sleep(100); }
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