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SpurFlysSpurFlys
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Create Rerun_Example.c
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‎Lib/Example/Rerun_Example.c

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#pragma config(I2C_Usage, I2C1, i2cSensors)
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#pragma config(Sensor, dgtl11, sonar, sensorSONAR_mm)
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#pragma config(Sensor, I2C_1, , sensorQuadEncoderOnI2CPort, , AutoAssign )
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#pragma config(Sensor, I2C_2, , sensorQuadEncoderOnI2CPort, , AutoAssign )
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#pragma config(Motor, port1, , tmotorVex393_HBridge, openLoop, encoderPort, I2C_2)
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#pragma config(Motor, port10, , tmotorVex393_HBridge, openLoop, encoderPort, I2C_1)
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//*!!Code automatically generated by 'ROBOTC' configuration wizard !!*//
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#pragma competitionControl(Competition)
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#pragma autonomousDuration(20)
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#pragma userControlDuration(120)
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#include "Mod_Vex_Comp_Control.c"
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#define armPID(fInput) (fInput - ((SensorValue[I2C_1] + SensorValue[I2C_2]) / 2)) * 0.7
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int autonomous1[150][3] = {
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{0, 0, 0},
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{0, 0, 0},
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{0, 0, 0},
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{0, 0, 0},
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{0, 0, 0},
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{0, 0, 0},
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{0, 0, 0},
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{0, 0, 0},
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{0, 0, 0},
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{0, 0, 0},
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{0, 0, 0},
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{0, 0, 0},
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{0, 0, 0},
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{0, 0, 0},
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{0, 0, 0},
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{0, 0, 0},
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{0, 0, 0},
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{0, 0, 0},
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{0, 0, 0},
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{0, 0, 0},
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{0, 0, 0},
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{0, 0, 0},
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{0, 0, 0},
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{0, 0, 0},
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{0, 0, 0},
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{0, 0, 0},
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{0, 0, 0},
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{0, 0, 0},
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{0, 0, 0},
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{0, 0, 0},
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{0, 0, 0},
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{0, 0, 0},
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{0, 0, 0},
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{0, 0, 0},
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{0, 0, 0},
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{0, 0, 0},
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{0, 0, 0},
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{0, 0, 0},
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{0, 0, 0},
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{0, 0, 0},
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{0, 0, 0},
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{0, 0, 0},
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{0, 0, 0},
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{0, 0, 0},
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{0, 0, 0},
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{0, 0, 0},
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{0, 0, 0},
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{0, 0, 0},
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{0, 0, 0},
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{0, 0, 0},
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{0, 0, 0},
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{0, 0, 0},
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{0, 0, 0},
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{0, 0, 0},
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{0, 0, 0},
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{0, 0, 0},
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{0, 0, 0},
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{0, 0, 0},
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{0, 0, 0},
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{0, 0, 0},
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{0, 0, 0},
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{0, 0, 0},
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{0, 0, 0},
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{0, 0, 0},
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{0, 0, 0},
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{0, 0, 0},
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{0, 0, 0},
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{0, 0, 0},
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{0, 0, 0},
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{0, 0, 0},
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{0, 0, 0},
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{0, 0, 0},
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{0, 0, 0},
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{0, 0, 0},
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{0, 0, 0},
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{0, 0, 0},
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{0, 0, 0},
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{0, 0, 0},
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{0, 0, 0},
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{0, 0, 0},
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{0, 0, 0},
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{0, 0, 0},
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{0, 0, 0},
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{0, 0, 0},
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{0, 0, 0},
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{0, 0, 0},
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{0, 0, 0},
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{0, 0, 0},
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{0, 0, 0},
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{0, 0, 0},
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{0, 0, 0},
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{0, 0, 0},
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{0, 0, 0},
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{0, 0, 0},
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{0, 0, 0},
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{0, 0, 0},
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{0, 0, 0},
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{0, 0, 0},
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{0, 0, 0},
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{0, 0, 0},
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{0, 0, 0},
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{0, 0, 0},
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{0, 0, 0},
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{0, 0, 0},
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{0, 0, 0},
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{0, 0, 0},
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{0, 0, 0},
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{0, 0, 0},
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{0, 0, 0},
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{0, 0, 0},
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{0, 0, 0},
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{0, 0, 0},
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{0, 0, 0},
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{0, 0, 0},
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{0, 0, 0},
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{0, 0, 0},
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{0, 0, 0},
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{0, 0, 0},
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{0, 0, 0},
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{0, 0, 0},
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{0, 0, 0},
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{0, 0, 0},
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{0, 0, 0},
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{0, 0, 0},
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{0, 0, 0},
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{0, 0, 0},
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{0, 0, 0},
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{0, 0, 0},
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{0, 0, 0},
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{0, 0, 0},
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{0, 0, 0},
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{0, 0, 0},
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{0, 0, 0},
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{0, 0, 0},
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{0, 0, 0},
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{0, 0, 0},
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{0, 0, 0},
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{0, 0, 0},
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{0, 0, 0},
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{0, 0, 0},
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{0, 0, 0},
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{0, 0, 0},
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{0, 0, 0},
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{0, 0, 0},
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{0, 0, 0},
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{0, 0, 0},
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{0, 0, 0},
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{0, 0, 0},
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{0, 0, 0},
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{0, 0, 0}};
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void
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tank (int iSpeedL, int iSpeedR) {
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motorSet(port3, iSpeedR);
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motorSet(port4, iSpeedR);
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motorSet(port5, iSpeedR);
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motorSet(port6, iSpeedL);
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motorSet(port7, iSpeedL);
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motorSet(port8, iSpeedL);
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}
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void
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arm (int iSpeed) {
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motorSet(port1, iSpeed);
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motorSet(port2, iSpeed);
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motorSet(port9, iSpeed);
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motorSet(port10, iSpeed);
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}
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int iDes;
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void
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armControl (bool bBtnReset, bool bSpeedBoost, bool bPreset, bool bBtnUp, bool bBtnDown) {
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int iOutput;
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if (bBtnUp || bBtnDown) {
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iOutput = bSpeedBoost ? (bBtnUp - bBtnDown) * 127 : (bBtnUp - bBtnDown) * 70;
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iDes = (SensorValue[I2C_1] + -SensorValue[I2C_2]) / 2;
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} else if (bPreset) {
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iOutput = armPID(250);
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iDes = (SensorValue[I2C_1] + -SensorValue[I2C_2]) / 2;
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} else {
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iOutput = armPID(iDes);
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}
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arm (iOutput);
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if (bBtnReset) clearAllIME();
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}
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void
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initIO () {
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setAllMotor393();
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motorSetup(port1, true);
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motorSetup(port2, false);
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motorSetup(port3, true, LINESPEED);
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motorSetup(port4, false, LINESPEED);
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motorSetup(port5, false, LINESPEED);
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motorSetup(port6, true, LINESPEED);
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motorSetup(port7, true, LINESPEED);
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motorSetup(port8, true, LINESPEED);
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motorSetup(port9, true);
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motorSetup(port10, false);
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sTeam = "HORNET ~ 21S";
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bLCDAuton =
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bLCDUserControl = true;
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}
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void
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pre_auton () {
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clearAllIME();
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}
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void
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replay1 () {
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for (int i = 0; i < 150; i++) {
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arm (armPID(autonomous1[i][0]));
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tank (autonomous1[i][2], autonomous1[i][1]);
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delay(100);
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}
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}
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task
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autonomous () {
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replay1();
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}
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task
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usercontrol () {
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while (true) {
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tank ((vexRT[Ch3]), (vexRT[Ch2]));
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armControl (vexRT[Btn8D], vexRT[Btn6D], vexRT[Btn5D], vexRT[Btn6U], vexRT[Btn5U]);
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if (vexRT[Btn7D]) {
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waitForReleased7D();
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startTask(record);
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}
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}
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}

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