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| Line 23: |
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| | *<span class="keywordBI">void </span><span class="codeBasic">pre_auton</span><span class="codePunc">()</span> – For running code that the robot needs to get “set up” before the competition begins | | *<span class="keywordBI">void </span><span class="codeBasic">pre_auton</span><span class="codePunc">()</span> – For running code that the robot needs to get “set up” before the competition begins |
| | *<span class="keywordBI">task </span><span class="codeBasic">autonomous</span><span class="codePunc">()</span> – For code the robot should run during the autonomous period (20 seconds by default) | | *<span class="keywordBI">task </span><span class="codeBasic">autonomous</span><span class="codePunc">()</span> – For code the robot should run during the autonomous period (20 seconds by default) |
| − | *<span class="keywordBI">task </span><span class="codeBasic">usercontrol</span><span class="codePunc">()</span> – For code the robot should run during the user control period (120 seconds by default) | + | *<span class="keywordBI">task </span><span class="codeBasic">usercontrol</span><span class="codePunc">()</span> – For code the robot should run during the user control period (120 seconds by default)<br /> |
| | + | |
| | + | The template and its accompanying “include” file handle the background work for the competition, such as monitoring the duration of each phase during a match, and communicating with the Vex Field Controller. All you need to do is tell the robot what to do in each phase. |
| | |- | | |- |
| | |} | | |} |
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| | | | |
| | | | |
| − | == Analog Sensors == | + | == Open a Competition Template == |
| | {| style="font-family:Verdana, Geneva, sans-serif; color:black; background-color:#FFFFFF; text-align:left; font-size:100%;" width="100%" cellpadding="5%" cellspacing="0" border="0" | | {| style="font-family:Verdana, Geneva, sans-serif; color:black; background-color:#FFFFFF; text-align:left; font-size:100%;" width="100%" cellpadding="5%" cellspacing="0" border="0" |
| | |- | | |- |
| − | |There are 5 main types of Analog Sensors for the VEX CORTEX: | + | |To open a competition template:<br /> |
| | + | [[File:open_comp_1.png]]<br /> |
| | + | '''Note:''' The competition template is a read-only file, so be sure to save a copy of the file somewhere else on your computer. |
| | |- | | |- |
| | | | | | |
| − | === Light ===
| |
| − | [[File:Vex light sensor.png]]
| |
| − | <br />
| |
| − | The Light sensor, also known as the Reflection sensor, returns values ranging between 0 and 4095. 0 is the lightest reading and 4095 is the darkest.
| |
| − | <br />
| |
| − |
| |
| − | {|
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| − | |-
| |
| − | |
| |
| − | <syntaxhighlight lang="ROBOTC">
| |
| − | #pragma config(Sensor, in1, lightSensor, sensorReflection)
| |
| − | //*!!Code automatically generated by 'ROBOTC' configuration wizard !!*//
| |
| − |
| |
| − | task main()
| |
| − | {
| |
| − | wait1Msec(2000); // wait 2 seconds before exectuing following code
| |
| − | bMotorReflected[port2] = true; // reflects direction of motor on port 2
| |
| − |
| |
| − | while(true) // infinite loop:
| |
| − | {
| |
| − | clearLCDLine(0); // clear the top VEX LCD line
| |
| − | clearLCDLine(1); // clear the bottom VEX LCD line
| |
| − |
| |
| − | setLCDPosition(0,0); // set the VEX LCD cursor the first line, first space
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| − | displayNextLCDString("Light Sensor:"); // display "Light Sensor:" on the top line
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| − |
| |
| − | setLCDPosition(1,0); // set the VEX LCD cursor the second line, first space
| |
| − | displayNextLCDNumber(SensorValue(lightSensor)); // display the reading of the lightSensor sensor
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| − |
| |
| − | wait1Msec(50); // wait 50 milliseconds to help display properly
| |
| − | }
| |
| − | }
| |
| − | </syntaxhighlight>
| |
| − | |-
| |
| − | |}
| |
| | |- | | |- |
| | | | | | |
| − |
| |
| − | === Potentiometer ===
| |
| − | [[File:Vex pot.png]]
| |
| − | <br />
| |
| − | Returns an analog value between 0 and 4095 ''(although mechanical stops my limit the values to between 5 and 4092)''.
| |
| − | <br />
| |
| − |
| |
| − | {|
| |
| − | |-
| |
| − | |
| |
| − | <syntaxhighlight lang="ROBOTC">
| |
| − | #pragma config(Sensor, in1, potentiometer, sensorPotentiometer)
| |
| − | //*!!Code automatically generated by 'ROBOTC' configuration wizard !!*//
| |
| − |
| |
| − | task main()
| |
| − | {
| |
| − | wait1Msec(2000); // wait 2 seconds before exectuing following code
| |
| − | bMotorReflected[port2] = true; // reflects direction of motor on port 2
| |
| − |
| |
| − | while(true) // infinite loop:
| |
| − | {
| |
| − | clearLCDLine(0); // clear the top VEX LCD line
| |
| − | clearLCDLine(1); // clear the bottom VEX LCD line
| |
| − |
| |
| − | setLCDPosition(0,0); // set the VEX LCD cursor the first line, first space
| |
| − | displayNextLCDString("Potentiometer:"); // display "Potentiometer:" on the top line
| |
| − |
| |
| − | setLCDPosition(1,0); // set the VEX LCD cursor the second line, first space
| |
| − | displayNextLCDNumber(SensorValue(potentiometer)); // display the reading of the potentiometer sensor
| |
| − |
| |
| − | wait1Msec(50); // wait 50 milliseconds to help display properly
| |
| − | }
| |
| − | }
| |
| − | </syntaxhighlight>
| |
| − | |-
| |
| − | |}
| |
| − | |-
| |
| − | |
| |
| − | === Line Follower ===
| |
| − | [[File:vex_linefollower.png]]
| |
| − | <br />
| |
| − | Returns values ranging between 0 and 4095. 0 is the lightest reading and 4095 is the darkest.
| |
| − | <br />
| |
| − |
| |
| − | {|
| |
| − | |-
| |
| − | |
| |
| − | <syntaxhighlight lang="ROBOTC">
| |
| − | #pragma config(Sensor, in1, lineFollower, sensorLineFollower)
| |
| − | //*!!Code automatically generated by 'ROBOTC' configuration wizard !!*//
| |
| − |
| |
| − | task main()
| |
| − | {
| |
| − | wait1Msec(2000); // wait 2 seconds before exectuing following code
| |
| − | bMotorReflected[port2] = true; // reflects direction of motor on port 2
| |
| − |
| |
| − | while(true) // infinite loop:
| |
| − | {
| |
| − | if(SensorValue(lineFollower) < 950) // if the lineFollower sensor reads a value less than 950:
| |
| − | {
| |
| − | // turn left:
| |
| − | motor[port2] = 50; // motor on port 2 is run at power level 50
| |
| − | motor[port3] = 0; // motor on port 3 is stopped at power level 0
| |
| − | }
| |
| − | else // lineFollower sensor reads a value greater than or equal to 950:
| |
| − | {
| |
| − | motor[port2] = 0; // motor on port 2 is stopped at power level 0
| |
| − | motor[port3] = 50; // motor on port 3 is run at power level 50
| |
| − | }
| |
| − | }
| |
| − | }
| |
| − | </syntaxhighlight>
| |
| − | |-
| |
| − | |}
| |
| − | |-
| |
| − | |
| |
| − |
| |
| − | === Gyro ===
| |
| − | [[File:vex_gyro.png]]
| |
| − | <br />
| |
| − | As the Gyro is turned, the values it returns are in '''tenths of degrees''', positive and negative. Thus, a SensorValue of 3600 equals 360 degrees, or one full rotation. When the sensor is mounted horizontally, counter-clockwise movements will return values from 0 to -3600; clockwise movements will return values from 0 to 3600. Once the gyro completes one full revolution, the sensor value will “roll-over” to 0 by default (for example: …3597, 3598, 3599, 3600, 0, 1, 2, 3,…). To change the “roll-over” point, un-comment line 33 (from the code below) and change the value of “SensorFullCount” from 3600 to the desired value (7200, 18000, ect)
| |
| − |
| |
| − | ''For more information on the Gyro sensor, check out the ROBOTC blog post: [http://www.robotc.net/blog/2011/10/13/programming-the-vex-gyro-in-robotc/ Programming the VEX Gyro in ROBOTC].''
| |
| − | <br />
| |
| − |
| |
| − | {|
| |
| − | |-
| |
| − | |
| |
| − | <syntaxhighlight lang="ROBOTC">
| |
| − | #pragma config(Motor, port2, rightMotor, tmotorNormal, openLoop)
| |
| − | #pragma config(Motor, port3, leftMotor, tmotorNormal, openLoop, reversed)
| |
| − | //*!!Code automatically generated by 'ROBOTC' configuration wizard !!*//
| |
| − |
| |
| − | /*+++++++++++++++++++++++++++++++++++++++++++++| Notes |++++++++++++++++++++++++++++++++++++++++++++
| |
| − | Gyro Based Turns - Basic
| |
| − | -This program instructs your robot to turn for the specified number of degrees in "degrees10".
| |
| − | -For best sensor results, clear out the gyro and manually configure it at the begging of the code.
| |
| − | -The Gyro is configured by default to provide values from 0 to -3600 for clockwise rotation,
| |
| − | and 0 to 3600 for counter-clockwise rotation
| |
| − |
| |
| − | Robot Model(s): Swervebot
| |
| − |
| |
| − | [I/O Port] [Name] [Type] [Description]
| |
| − | Motor Port 2 rightMotor VEX Motor Right side motor
| |
| − | Motor Port 3 leftMotor VEX Motor Left side motor
| |
| − | Analog Port 8 in8 VEX Gyro Top-center mounted,
| |
| − | away from the Cortex
| |
| − | --------------------------------------------------------------------------------------------------*/
| |
| − |
| |
| − | task main()
| |
| − | {
| |
| − | //Completely clear out any previous sensor readings by setting the port to "sensorNone"
| |
| − | SensorType[in8] = sensorNone;
| |
| − | wait1Msec(1000);
| |
| − | //Reconfigure Analog Port 8 as a Gyro sensor and allow time for ROBOTC to calibrate it
| |
| − | SensorType[in8] = sensorGyro;
| |
| − | wait1Msec(2000);
| |
| − |
| |
| − | //Adjust SensorScale to correct the scaling for your gyro
| |
| − | //SensorScale[in8] = 260;
| |
| − | //Adjust SensorFullCount to set the "rollover" point. 3600 sets the rollover point to +/-3600
| |
| − | //SensorFullCount[in8] = 3600;
| |
| − |
| |
| − | //Specify the number of degrees for the robot to turn (1 degree = 10, or 900 = 90 degrees)
| |
| − | int degrees10 = 900;
| |
| − |
| |
| − | //While the absolute value of the gyro is less than the desired rotation...
| |
| − | while(abs(SensorValue[in8]) < degrees10)
| |
| − | {
| |
| − | //...continue turning
| |
| − | motor[rightMotor] = 25;
| |
| − | motor[leftMotor] = -25;
| |
| − | }
| |
| − |
| |
| − | //Brief brake to stop some drift
| |
| − | motor[rightMotor] = -5;
| |
| − | motor[leftMotor] = 5;
| |
| − | wait1Msec(250);
| |
| − | }
| |
| − | </syntaxhighlight>
| |
| − | |-
| |
| − | |}
| |
| − | |-
| |
| − | |
| |
| − |
| |
| − | === Accelerometer ===
| |
| − | [[File:vex_accel.png]]
| |
| − | <br />
| |
| − | Returns an analog value between 0 and 4095. Each Accelerometer Sensor has 3 cables, X, Y, and Z. The ports you attach them to don't have to be in any particular order ''(however you WILL need to use 3 ports)''.
| |
| − | <br />
| |
| − |
| |
| − | {|
| |
| − | |-
| |
| − | |
| |
| − | <syntaxhighlight lang="ROBOTC">
| |
| − | #pragma config(Sensor, in1, xAxis, sensorAccelerometer)
| |
| − | #pragma config(Sensor, in2, yAxis, sensorAccelerometer)
| |
| − | #pragma config(Sensor, in3, zAxis, sensorAccelerometer)
| |
| − | //*!!Code automatically generated by 'ROBOTC' configuration wizard !!*//
| |
| − |
| |
| − | task main()
| |
| − | {
| |
| − | int nBiasValues[3];
| |
| − |
| |
| − | int X_Accel;
| |
| − | int Y_Accel;
| |
| − | int Z_Accel;
| |
| − |
| |
| − | wait1Msec(500); // bias values are being calculated
| |
| − |
| |
| − | /* store the bias values in an array so that they can be
| |
| − | * displayed in the ROBOTC global variables debug window */
| |
| − | nBiasValues[0] = SensorBias[xAxis];
| |
| − | nBiasValues[1] = SensorBias[yAxis];
| |
| − | nBiasValues[2] = SensorBias[zAxis];
| |
| − |
| |
| − | while(true)
| |
| − | {
| |
| − | /* also store the actual sensor values so that they can be
| |
| − | * easily displayed in the ROBOTC global variables debug window */
| |
| − | X_Accel = SensorValue[xAxis];
| |
| − | Y_Accel = SensorValue[yAxis];
| |
| − | Z_Accel = SensorValue[zAxis];
| |
| − |
| |
| − | wait1Msec(100);
| |
| − | }
| |
| − | }
| |
| − | </syntaxhighlight>
| |
| − | |-
| |
| − | |}
| |
| | |- | | |- |
| | | | | | |
