HELP! Program multiple Bump Switches -VexVRPro

Programming Support
#1

I have bumper car built with 2 motors and 8 different bumper switches (2 per side of car). How can I program multiple bumper switches to cause the car to move in different directions based on where it is hit (which bumper is pressed)?

Using VexVRPro (text C++)

I want the car to move once program is ran, then react once one of the 8 bumpers are hit. Each bumper would be programmed to move the car in a different direction.

this is what I have thus far, but it only runs the initial program, nothing happens with bumper 1. Also need to add the other bumpers in.

any thoughts???

while(true){

Motor1.setVelocity(100,rpm);
Motor2.setVelocity(100,rpm);
Motor1.spin(forward);
Motor2.spin(forward);
}
if(B1.pressing());
Motor1.setVelocity(100,rpm);
Motor2.setVelocity(70,rpm);
Motor1.spin(reverse);
Motor2.spin(reverse);

}

#2

Below is one option using the competition example. There is a separate function called SetSpeed that controls the chassis motors. The usercontrol routine simply sends a request to the SetSpeed function based on your design.


//robot-config.cpp
motor LeftMotor = motor(PORT1, ratio18_1, false);
motor RightMotor = motor(PORT2, ratio18_1, true);
bumper BumperA = bumper(Brain.ThreeWirePort.A);
bumper BumperB = bumper(Brain.ThreeWirePort.B);
bumper BumperC = bumper(Brain.ThreeWirePort.C);

//main.cpp
#include "vex.h"

using namespace vex;
competition Competition;

void pre_auton(void) {
  vexcodeInit();
}

void autonomous(void) {
}

//Stops and then sets the new speed of the motors. 
// Use negative values for reverse.
void SetSpeed(int left, int right){
  LeftMotor.stop();
  RightMotor.stop();
  wait(1, sec);
  LeftMotor.setVelocity(left, percent);
  RightMotor.setVelocity(right, percent);
}

void usercontrol(void) {
  LeftMotor.spin(forward);
  RightMotor.spin(forward);
  SetSpeed(30,30);
  while (1) {
    //Various bumper press send a request to change the speed.
    if(BumperA.pressing())
      SetSpeed(60,-60);
   if(BumperB.pressing())
      SetSpeed(60,60);
   if(BumperC.pressing())
      SetSpeed(-30,30);
    wait(20, msec);
  }
}


int main() {
  Competition.autonomous(autonomous);
  Competition.drivercontrol(usercontrol);

  pre_auton();

  while (true) {
    wait(100, msec);
  }
}
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#3

Thank you! Will this work if I want it completely autonomous? No controller.

#4

The above code will work. If you don’t want to use the competition template you can use the following which puts the main block of code in the main function.

#include "vex.h"
using namespace vex;

void SetSpeed(int left, int right){
  LeftMotor.stop();
  RightMotor.stop();
  wait(1, sec);
  LeftMotor.setVelocity(left, percent);
  RightMotor.setVelocity(right, percent);
}

int main() {
  vexcodeInit();

  LeftMotor.spin(forward);
  RightMotor.spin(forward);
  
  while (1) {
    //Various bumper press with a change in the speed function.
    if(BumperA.pressing())
      SetSpeed(60,-60);
    else if(BumperB.pressing())
      SetSpeed(60,60);
    else if(BumperB.pressing())
      SetSpeed(-30,30);
    else
      SetSpeed(30,30);
    wait(20, msec);
  }
}
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