Arcade Drive Code?

VEX V5 General Discussion General Forum
1

Hello. I was just wondering if anyone knew the raw code for the arcade drive module in easyC. I am creating a robot that needs arcade drive, but I can’t use easyC to program it, so I am kind of stuck :confused:

2

Does this help?
https://vexforum.com/wiki/index.php/Term_-_Arcade_Style_Drive

3

No :confused: I have tried that, and I can’t get it to work.

4

That is quite odd… What exactly are the symptoms you are experiencing?

EDIT:
And can you post your code (even if it is the Arduino C code?)

5

Here is the whole code. The values on the axis go from 0-180.

// http://www.commandfusion.com/docs/scripting/sensors.html

var y=0; // Roll; Forwards and Backwards. 0 is middle, 1 is forwards, -1 is back
var x=0; // Pitch; Left and Right
var in_min=-1;
var in_max=1;
var out_min=0;
var out_max=180;

var leftmotor=90;
var rightmotor=90;

CF.userMain = function() {

CF.startMonitoring(CF.AttitudeSensor, { historySize:50, captureInterval:20, reportInterval:100 }, gyro);

};

function gyro(sensorType, dataasdf){
	y=dataasdf[0].roll;
	x=dataasdf[0].pitch;
	
	if(y>1){
		y=1;
	}else if(y<-1){
		y=-1;
	}
	if(x>1){
		x=1;
	}else if(x<-1){
		x=-1;
	}
	
	y=(y - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
	y=Math.round(y);
	x=(x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
	x=Math.round(x);
	
	//leftmotor=(y/2)-(x/2);
	//rightmotor=(y/2)+(x/2);
	
	if (x < 90) //  if x negative, turning left; otherwise, turning right
    {
        leftmotor = (y * (100 + (2 * x))/100); // left motor reduced for right turn
        rightmotor = y;                           // right motor not changed
    }
    else
    {
        rightmotor = (y * (100 - (2 * x))/100); // right motor reduced for left turn
        leftmotor = y;                            // left motor not changed
    }
	
	CF.setJoin("a1", y*364);
	CF.setJoin("a2", x*364);
	
	CF.log("L: " + leftmotor);
	CF.log("R: " + rightmotor);
}

Let me explain a little more. I wrote this code for guiCreater made by CommandFusion, which lets you make guis for your iOS or Android device, so what I am trying to do is read the gyro and send it to the Arduino via wifi udp. Reading the gyro and mapping the values to 0-180 works fine. I can send the values fine. I just need to figure out how to split up each axis to run both motors.

6

I made it work, so here is the code I modified:

if (x < 90) //  if x negative, turning left; otherwise, turning right
    {
        //leftmotor = (y * (100 + (2 * x))/100); // left motor reduced for right turn
        rightmotor = y;                           // right motor not changed
		leftmotor=(y-90)+x;
    }
    else
    {
        //rightmotor = (y * (100 - (2 * x))/100); // right motor reduced for left turn
        leftmotor = y;                            // left motor not changed
		rightmotor=(y+90)-x;
    }
	
	leftmotor=Math.abs(leftmotor);
	rightmotor=Math.abs(rightmotor);
	leftstring="M1:" + leftmotor + ";";
	rightstring="M2:" + rightmotor + ";";
7

Are you using the Arduino IDE to program this?

8

For the code you see above, I used CommandFusion’s guiDesigner, which is based off of JavaScript. It’s basically C.

9

Have you ever looked into using programs such as “processing” and apps like “touchOSC?” Theyre both free and work pretty well.

10

I have used processing, but I haven’t heard of touchOSC before. CommandFusion guiDesigner and iViewer are both free, and are actually really neat once you figure it out. Basically, you can create a program on your computer, and upload it to, say your iPod, then it will run on your iPod. Currently, my program has three user input methods: gyro, sliders, and buttons. They send wirelessly over wifi to the Arduino to control the robot. I’ll have to see what touchOSC is.

11

Here is an image of my gui:

http://aksoapy29.netai.net/controls.png

12

Hi Soapy,

Aaron from CommandFusion here. We are always looking to show of interesting uses of our software.
Are you interested in helping us out with a case study? I will do most of the work - would just need some images and maybe a video?

Shoot me an email at aaron (at) commandfusion.com if you are interested.

13

Just want to say:
This is a case-in-point of how doing cool stuff with robotics can get you noticed by businesses. :slight_smile:

//Andrew