# 🤖 Botball C Programming Cheat Sheet ## 📊 Reading Sensors ```c // Digital sensors (touch, bumper) - returns 0 or 1 digital(port_number); // Example: if(digital(0)) { ... } // Analog sensors (light, distance) - returns 0 to 4095 analog(port_number); // Example: if(analog(0) > 2000) { ... } // Motor position (encoders) - returns tick count get_motor_position_counter(motor_port); // Example: while(get_motor_position_counter(0) < 1000) { ... } ``` ## 🚗 Basic Movement ```c // Start motors motor(port, speed); // speed: -100 to 100 // Example: Drive forward motor(0, 50); // Left motor motor(1, 50); // Right motor // Stop all motors ao(); // Wait (in milliseconds) msleep(1000); // Waits 1 second ``` ## 🔄 Loops ```c // Count-controlled loop for(int i = 0; i < 5; i++) { // Repeats 5 times } // Condition-controlled loop while(digital(0) == 0) { // Runs until sensor is pressed } // Infinite loop (with break) while(1) { if(condition) break; // Runs forever until break } ``` ## ⚙️ Functions ```c // Simple function void drive_forward() { motor(0, 50); motor(1, 50); } // Function with parameters void drive_speed(int speed) { motor(0, speed); motor(1, speed); } // Function that returns a value int is_wall_close() { return (analog(0) > 2000); } ``` ## 📏 Common Movement Patterns ```c // Drive for specific time void drive_time(int speed, int ms) { motor(0, speed); motor(1, speed); msleep(ms); ao(); } // Turn right 90 degrees void turn_right() { motor(0, 50); // Left forward motor(1, -50); // Right backward msleep(800); // Adjust time! ao(); } // Square up against wall void square_up() { while(!digital(0) || !digital(1)) { // Until both bumpers hit motor(0, 30); motor(1, 30); } ao(); } ``` ## 🎮 Common Sensor Patterns ```c // Wait for light to start void wait_for_light() { while(analog(0) > 200) { msleep(50); } } // Follow a line void follow_line() { if(analog(0) > 2000) { // If sensor sees line motor(0, 30); // Slow left motor motor(1, 50); // Fast right motor } else { motor(0, 50); // Fast left motor motor(1, 30); // Slow right motor } } // Stop at black line void drive_until_line() { while(analog(0) < 2000) { // While not on line motor(0, 50); motor(1, 50); } ao(); } ``` ## 🔢 Variables & Constants ```c // Define constants (at top of program) #define LEFT_MOTOR 0 #define RIGHT_MOTOR 1 #define LINE_THRESHOLD 2000 // Variables for tracking int cans_collected = 0; float current_speed = 50.0; // Arrays for multiple values int sensor_readings[3]; sensor_readings[0] = analog(0); ``` ## 💡 Tips & Tricks 1. **Smooth Movement** - Start slow, speed up, slow down before stopping - Use small changes in speed (increment by 5-10) - Check encoder values for straight driving 2. **Reliable Sensors** - Take multiple readings and average them - Use thresholds with a buffer zone - Always check sensors before moving 3. **Good Programming Habits** - Comment your code! - Use meaningful variable names - Test small parts before big programs - Back up your code often 4. **Debugging** - Use `printf()` to show values - Add delays to watch robot behavior - Test sensors before competition - Check battery levels ## 🏃‍♂️ Quick Program Template ```c #include <kipr/wombat.h> // Constants #define LEFT_MOTOR 0 #define RIGHT_MOTOR 1 #define SENSOR_PORT 0 // Functions void setup() { wait_for_light(0); shut_down_in(119); // Safety shutdown } // Main program int main() { setup(); // Your code here ao(); // Always stop motors at end return 0; } ```