Code-Bin #955

untitled Java Code
Posted by: Rob | November 17, 2010 @ 12:19am

Java Code

#pragma config(ProgramType, StandaloneWiFi)
//*!!Code automatically generated by 'ROBOTC' configuration wizard               !!*//

/*************************************************************************
Robs Robot Configuration

Description: This program gives user full control over all four wheels of
the robot.

Configuration: This program is written to work with a modified Squarebot model.
- Motors in order Clockwise from battery. (1 - 4)

Additional Notes:
-	Robot uses perpendicular motions to move in all directions.
-	Power levels that can be assigned to a motor port range from -127 (full
	reverse) to 127 (full forward).
*************************************************************************/
int rotateHelper;

task main()
{
	while(abs(vexRT[Ch2]) > abs(vexRT[Ch1])) //abs = absolute value
	{
	  // When right Joystick is Up or Down
	  // Robot goes Forward or Backward
	  
	  while(abs(vexRT[Ch2]) < 87)
	  {
	    // If speed is low, increase speeds to rotate.
	    
	    motor[port1] = -vexRT[Ch2] - rotateHelper;
	    motor[port2] = vexRT[Ch2] + rotateHelper;
	    motor[port3] = vexRT[Ch2] - rotateHelper;
	    motor[port4] = -vexRT[Ch2] + rotateHelper;
	  }
	  while(abs(vexRT[Ch2]) > 87)
	  {
	    // If speed is high, decrease speeds to rotate.
	    
	    motor[port1] = -87 - rotateHelper;
	    motor[port2] = 87 + rotateHelper;
	    motor[port3] = 87 - rotateHelper;
	    motor[port4] = -87 + rotateHelper;
	  }
	}
	while(abs(vexRT[Ch2]) < abs(vexRT[Ch1])) // abs = absolute value
	{
	  // When right Joystick is Right or Left
	  // Robot goes Right or Left
	  
	  while(abs(vexRT[Ch1]) < 87)
	  {
	    // If speed is low, increase speeds to rotate.
	    
	    motor[port1] = vexRT[Ch1] - rotateHelper;
	    motor[port2] = vexRT[Ch1] + rotateHelper;
	    motor[port3] = -vexRT[Ch1] - rotateHelper;
	    motor[port4] = -vexRT[Ch1] + rotateHelper;
	  }
	  while(abs(vexRT[Ch1]) > 87)
	  {
	    // If speed is high, decrease speeds to rotate.
	    
	    motor[port1] = 87 - rotateHelper;
	    motor[port2] = 87 + rotateHelper;
	    motor[port3] = -87 - rotateHelper;
	    motor[port4] = -87 + rotateHelper;
	  }
	}
  while(vexRT[Ch6] == 127)
  {
    // If right backbutton up is pressed, set rotateHelper to 40.
    
    rotateHelper = 40;
  }
  while(vexRT[Ch5] == 127)
  {
    // If left backbutton up is pressed, set rotateHelper to -40.
    
    rotateHelper = -40;
  }
  while(vexRT[Ch6] == 0 && vexRT[Ch5] == 0)
  {
    // If backbuttons are not pressed, set rotateHelper to 0.
    
    rotateHelper = 0;
  }
}//end main

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