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1 + # 🤖 Botball C Programming Cheat Sheet
2 +
3 + ## 📊 Reading Sensors
4 +
5 + ```c
6 + // Digital sensors (touch, bumper) - returns 0 or 1
7 + digital(port_number); // Example: if(digital(0)) { ... }
8 +
9 + // Analog sensors (light, distance) - returns 0 to 4095
10 + analog(port_number); // Example: if(analog(0) > 2000) { ... }
11 +
12 + // Motor position (encoders) - returns tick count
13 + get_motor_position_counter(motor_port); // Example: while(get_motor_position_counter(0) < 1000) { ... }
14 + ```
15 +
16 + ## 🚗 Basic Movement
17 +
18 + ```c
19 + // Start motors
20 + motor(port, speed); // speed: -100 to 100
21 + // Example: Drive forward
22 + motor(0, 50); // Left motor
23 + motor(1, 50); // Right motor
24 +
25 + // Stop all motors
26 + ao();
27 +
28 + // Wait (in milliseconds)
29 + msleep(1000); // Waits 1 second
30 + ```
31 +
32 + ## 🔄 Loops
33 +
34 + ```c
35 + // Count-controlled loop
36 + for(int i = 0; i < 5; i++) {
37 + // Repeats 5 times
38 + }
39 +
40 + // Condition-controlled loop
41 + while(digital(0) == 0) {
42 + // Runs until sensor is pressed
43 + }
44 +
45 + // Infinite loop (with break)
46 + while(1) {
47 + if(condition) break;
48 + // Runs forever until break
49 + }
50 + ```
51 +
52 + ## ⚙️ Functions
53 +
54 + ```c
55 + // Simple function
56 + void drive_forward() {
57 + motor(0, 50);
58 + motor(1, 50);
59 + }
60 +
61 + // Function with parameters
62 + void drive_speed(int speed) {
63 + motor(0, speed);
64 + motor(1, speed);
65 + }
66 +
67 + // Function that returns a value
68 + int is_wall_close() {
69 + return (analog(0) > 2000);
70 + }
71 + ```
72 +
73 + ## 📏 Common Movement Patterns
74 +
75 + ```c
76 + // Drive for specific time
77 + void drive_time(int speed, int ms) {
78 + motor(0, speed);
79 + motor(1, speed);
80 + msleep(ms);
81 + ao();
82 + }
83 +
84 + // Turn right 90 degrees
85 + void turn_right() {
86 + motor(0, 50); // Left forward
87 + motor(1, -50); // Right backward
88 + msleep(800); // Adjust time!
89 + ao();
90 + }
91 +
92 + // Square up against wall
93 + void square_up() {
94 + while(!digital(0) || !digital(1)) { // Until both bumpers hit
95 + motor(0, 30);
96 + motor(1, 30);
97 + }
98 + ao();
99 + }
100 + ```
101 +
102 + ## 🎮 Common Sensor Patterns
103 +
104 + ```c
105 + // Wait for light to start
106 + void wait_for_light() {
107 + while(analog(0) > 200) {
108 + msleep(50);
109 + }
110 + }
111 +
112 + // Follow a line
113 + void follow_line() {
114 + if(analog(0) > 2000) { // If sensor sees line
115 + motor(0, 30); // Slow left motor
116 + motor(1, 50); // Fast right motor
117 + } else {
118 + motor(0, 50); // Fast left motor
119 + motor(1, 30); // Slow right motor
120 + }
121 + }
122 +
123 + // Stop at black line
124 + void drive_until_line() {
125 + while(analog(0) < 2000) { // While not on line
126 + motor(0, 50);
127 + motor(1, 50);
128 + }
129 + ao();
130 + }
131 + ```
132 +
133 + ## 🔢 Variables & Constants
134 +
135 + ```c
136 + // Define constants (at top of program)
137 + #define LEFT_MOTOR 0
138 + #define RIGHT_MOTOR 1
139 + #define LINE_THRESHOLD 2000
140 +
141 + // Variables for tracking
142 + int cans_collected = 0;
143 + float current_speed = 50.0;
144 +
145 + // Arrays for multiple values
146 + int sensor_readings[3];
147 + sensor_readings[0] = analog(0);
148 + ```
149 +
150 + ## 💡 Tips & Tricks
151 +
152 + 1. **Smooth Movement**
153 + - Start slow, speed up, slow down before stopping
154 + - Use small changes in speed (increment by 5-10)
155 + - Check encoder values for straight driving
156 +
157 + 2. **Reliable Sensors**
158 + - Take multiple readings and average them
159 + - Use thresholds with a buffer zone
160 + - Always check sensors before moving
161 +
162 + 3. **Good Programming Habits**
163 + - Comment your code!
164 + - Use meaningful variable names
165 + - Test small parts before big programs
166 + - Back up your code often
167 +
168 + 4. **Debugging**
169 + - Use `printf()` to show values
170 + - Add delays to watch robot behavior
171 + - Test sensors before competition
172 + - Check battery levels
173 +
174 + ## 🏃‍♂️ Quick Program Template
175 +
176 + ```c
177 + #include <kipr/wombat.h>
178 +
179 + // Constants
180 + #define LEFT_MOTOR 0
181 + #define RIGHT_MOTOR 1
182 + #define SENSOR_PORT 0
183 +
184 + // Functions
185 + void setup() {
186 + wait_for_light(0);
187 + shut_down_in(119); // Safety shutdown
188 + }
189 +
190 + // Main program
191 + int main() {
192 + setup();
193 +
194 + // Your code here
195 +
196 + ao(); // Always stop motors at end
197 + return 0;
198 + }
199 + ```
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