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teleop.c
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#pragma config(Hubs, S1, HTMotor, HTMotor, HTServo, none)
#pragma config(Sensor, S1, , sensorI2CMuxController)
#pragma config(Motor, mtr_S1_C1_1, motorD, tmotorNormal, openLoop, reversed)
#pragma config(Motor, mtr_S1_C1_2, motorE, tmotorNormal, openLoop)
#pragma config(Motor, mtr_S1_C2_1, motorF, tmotorNormal, openLoop, reversed)
#pragma config(Motor, mtr_S1_C2_2, motorG, tmotorNormal, openLoop)
#pragma config(Servo, srvo_S1_C3_1, servo1, tServoNone)
#pragma config(Servo, srvo_S1_C3_2, servo2, tServoNone)
#pragma config(Servo, srvo_S1_C3_3, servo3, tServoStandard)
#pragma config(Servo, srvo_S1_C3_4, servoA, tServoStandard)
#pragma config(Servo, srvo_S1_C3_5, servoB, tServoStandard)
#pragma config(Servo, srvo_S1_C3_6, servoC, tServoStandard)
//*!!Code automatically generated by 'ROBOTC' configuration wizard !!*//
////---Controller Config Diagram---\\\\
#include "JoystickDriver.c"
/*
--S1---- --------- --------
| | | | | |
----- ------------ ------------ ------------
| NXT | | Drive L (D)| | Not-Arm (F)| | BallL (A)|
| | | Drive R (E)| | Scissor (G)| | BallR (B)|
----- ------------ ------------ | Clamp (C)|
Motor Motor ------------
Servo
*///End Controller Config Diagram\\\\
#define CLAMP_START 0
#define BALL_SERVO_START 0
#define CLAMP_OUT_BTN 2
#define CLAMP_IN_BTN 1
#define BALL_UP_BTN 8
#define BALL_DOWN_BTN 6
#define BALL_IN_BTN 7
#define BALL_OUT_BTN 5
#define REVERSE_BTN 6
void init()
{
servo[servoA] = BALL_SERVO_START;
servo[servoB] = 255 - BALL_SERVO_START;
servo[servoC] = CLAMP_START;
servoChangeRate[servoA] = 1;
servoChangeRate[servoB] = 1;
//TODO: SET SERVO CHANGE RATES!!!
}
task main()
{
int ballServo, ballFeedMotor, clampServo, leftMotor, rightMotor, notArmMotor, scissorMotor;
init();
waitForStart(); //MAY NOT BE NECESSARY!!! CHECK TEMPLATE!!!!!
while(true)
{
getJoystickSettings(joystick); // <----THAT THING THAT READS CONTROLLER STUFF GOES RIGHT HERE
// Assuming that y1 is left and y2 is right, I can never remember. IF NECESSARY SWITCH!!!
// SET THE VARIABLES FOR THE DRIVE MOTORS ||| THIS SHOULD BE GOOD TO KEEP \\
leftMotor = joystick.joy1_y1;
rightMotor = joystick.joy1_y2;
// THIS STUFF IS REALLY GHETTO \\
if (joy2Btn(BALL_IN_BTN))
ballFeedMotor = -50; //move it outwards
else if (joy2Btn(BALL_OUT_BTN))
ballFeedMotor = 50; //move it inwards
else
ballFeedMotor = 0; //move it to where it is (ie. stay still)
notArmMotor = joystick.joy2_y1; //NOT ARM MOTOR IS JOY2 Y1. PROBABLY TEMPORARY AND WILL NEED A SCALE FACTOR!!!
scissorMotor = joystick.joy2_y2; //Scissor lift on joy2 y2; TODO: CHANGE THIS TO A PUSH BUTTON!!!
if (joy2Btn(CLAMP_OUT_BTN))
clampServo = 255; //move it outwards
else if (joy2Btn(CLAMP_IN_BTN))
clampServo = 0; //move it inwards
else
clampServo = ServoValue[servoC]; //move it to where it is (ie. stay still)
if (joy2Btn(BALL_UP_BTN))
ballServo = 255; //move up
else if (joy2Btn(BALL_DOWN_BTN))
ballServo = 0; //move down
else
ballServo = ServoValue[servoA]; //move to where it is (stay still)
//THAT THING THAT REVERSES MOTORS\\
if(joy1Btn(REVERSE_BTN))
{
leftMotor = leftMotor * -1;
rightMotor = rightMotor * -1;
}
//THIS STUFF SHOULD BE GOOD TO KEEP!!!!\\
//=====================================\\
motor[motorD] = leftMotor; //set left motor to left value
motor[motorG] = rightMotor; //set right motor to right value
motor[motorE] = notArmMotor/4; //set not-arm motor to not-arm-motor value
motor[motorF] = scissorMotor; //set scissor motor to scissor value
motor[motorA] = ballFeedMotor;
servo[servoA] = ballServo; //setting ball lifter left servo is easy, left is master
servo[servoB] = 255 - ballServo; //right servo has to be a mirror of left servo, as such is 255 - left (master) value
servo[servoC] = clampServo; //clamp servo = clamp servo value
/*
//===========================================\\
||========---------BEGIN PONY--------========||
\\===========================================//
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//===========================================\\
||========----------END PONY---------========||
\\===========================================//
*/
}
}