Me and my team are starting to build an autonomous code, and we are all having trouble trying to code it. We have a competition Saturday and this is most urgent.
We want to program it to hit a roller to the color of whatever side of the field we are on, turn around, pick up some discs, and shoot them into the goal. We are getting pretty stuck, and are looking for at least a sample of what this would look like. Any help is appreciated.
The first step would be to set up some PID functions like an inch drive or turn. Next would be to put your functions together and change the values until it works.
We’ve been messing with values and turn codes, but it always seems to ram into the wall even with the changed values.
We’ve also been keeping it pretty simple, with just .StartRotateFor commands, since we don’t want to try and get confused with more advanced commands.
Before you read this please note it has many problems (not with the code working but the way it is implemented) and assumptions along with it, it is more meant as a template to work off of or get ideas from. I have also not tested this at all since I’m at home rn
Some of these assumptions are-
With that being said, here is the code I came up with
// ---- START VEXCODE CONFIGURED DEVICES ----
// Robot Configuration:
// [Name] [Type] [Port(s)]
// Controller1 controller
// leftMotors motor 1
// rightMotors motor 2
// Optical optical 3
// RollerSpinner motor 4
// Intake motor 5
// Launcher motor 6
// ---- END VEXCODE CONFIGURED DEVICES ----
//PLEASE READ ALL COMMENTS BEFORE USING THE CODE
// ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
//this code assumes that the roller is on the back of the robot, the intake and launcher is in the front, starts in the same spot,
//the bot has a basic car/tank like base, the battery percentage is roughly the same every time used (prefferably near 100%), and
//the robot has a color senor near the roller turner
#include "vex.h"
#include "math.h"
using namespace vex;
competition Competition;
motor_group FullDrive = motor_group(leftMotors, rightMotors);
void Autonomous()
{
//I will refer to the field as if it were a coordinate plane like once or twice
//the x wait timers after each stop is to allow the robot to settle, increase this if needed
double x = 0.1; //<-- this is in seconds
//this first forward movement is to get the robot a bit away from the wall
FullDrive.spin(forward, 100, percent);
wait(0.2, seconds);
FullDrive.stop(coast);
wait(x, seconds);
//meant to turn bot at 60 degree angle with north (relative to picture) being 0 degrees
leftMotors.spin(forward, 100, percent);
rightMotors.spin(reverse, 100, percent);
wait(0.4, seconds);
FullDrive.stop(hold);
wait(x, seconds);
//should have the center of the robot's x position match up with the roller's x position
FullDrive.spin(forward, 100, percent);
wait(0.85, seconds);
FullDrive.stop(hold);
wait(x, seconds);
//Turns robot -60 degrees to face back to 0 and have it's back (hopefully where your roller spinner is) match up with the roller
leftMotors.spin(reverse, 100, percent);
rightMotors.spin(forward, 100, percent);
wait(0.4, seconds);
FullDrive.stop(hold);
wait(x, seconds);
//drives robot into contact with the roller
FullDrive.spin(reverse, 100, percent);
wait(0.5, seconds);
FullDrive.stop();
//This part will prob cause the bot to slam into the roller so be ready for that
wait(x, seconds);
//this comparison assumes the hue of red is returned as 5 because I don't know and can't find nothing about it
//It is also overly complicated since IDK how to do a +/- comparison (I'm using a 5 margin of error for different shades)
while(int(Optical.hue()) < 10 || int(Optical.hue()) > 0 ){
RollerSpinner.spin(forward, 10, percent);
}
//^^ Will continue until the Optical sensor sees red ^^
//Moves robot away from roller
FullDrive.spin(forward, 100, percent);
wait(0.2, seconds);
FullDrive.stop(hold);
wait(x, seconds);
//Turns robot to face the 3 discs in a line
leftMotors.spin(reverse, 100, percent);
rightMotors.spin(forward, 100, percent);
wait(0.3, seconds);
FullDrive.stop(hold);
wait(x, seconds);
//turns on intake motor and drives robot forward to pick up discs
Intake.spin(forward, 100, percent);
FullDrive.spin(forward, 100, percent);
wait(1.75, seconds);
//stop robot on where the last disc in the line was
FullDrive.stop(hold);
wait(x, seconds);
//turns robot -90 degrees to face the goal
leftMotors.spin(reverse, 100, percent);
rightMotors.spin(forward, 100, percent);
wait(0.5, seconds);
FullDrive.stop(hold);
wait(x, seconds);
//allows the intake system time to bring any remaining discs where they need to go
wait(0.5, seconds);
Intake.stop(coast);
//Change the percent amount it spins for what makes it into the goal with your launcher
Launcher.spin(forward, 100, percent);
//Put code for putting disc into launcher wheel here (prob a pneumatic)
//at this point everything you need to do is done and you can just ride out the remaining time till user control starts
}
void UserControl(){
while(true){
//whatever you got for human control period
}
}
int main() {
// Initializing Robot Configuration. DO NOT REMOVE!
vexcodeInit();
Competition.drivercontrol(UserControl);
Competition.autonomous(Autonomous);
}
Here is the motors configuration I used
and here is the basic drawing of what should happen if I somehow got all those numbers right
How would this code differ if we do not have an optical sensor?
you would just try to time the roller to the best of your ability
If you don’t have a optical sensor you would just have to take out the while loop and tell it to spin for an amount of time and hope it works
