When I am trying to code the controller manually, I don’t know which identifier to put for Controller1.Axis2 == identifer… Does anyone know what to put?
What are you trying to do with axis2? Like are you trying to drive the robot?
I am trying to manually code the robot without using the drivetrain setting made by vex
I am trying the drive the robot
While I have absolutely no idea how to text code, I am able to supply you with the text code generated by Vexcode V5 for my block coded program.
(motors 1 & 2 and the left side, 3 & 4 and the right side)
All of these are exponential drive, meaning they have a curve to actually get up to max speed, giving more ability to drive slow but still be able to reach the max speed
Python, Arcade, exponential drive:
def when_started1():
global myVariable
motor_1.set_stopping(COAST)
motor_2.set_stopping(COAST)
motor_3.set_stopping(COAST)
motor_4.set_stopping(COAST)
while True:
motor_1.set_velocity((((controller_1.axis3.position() + controller_1.axis1.position()) * math.fabs(controller_1.axis3.position() + controller_1.axis1.position())) / 100), PERCENT)
motor_2.set_velocity((((controller_1.axis3.position() + controller_1.axis1.position()) * math.fabs(controller_1.axis3.position() + controller_1.axis1.position())) / 100), PERCENT)
motor_3.set_velocity((((controller_1.axis3.position() - controller_1.axis1.position()) * math.fabs(controller_1.axis3.position() - controller_1.axis1.position())) / 100), PERCENT)
motor_4.set_velocity((((controller_1.axis3.position() - controller_1.axis1.position()) * math.fabs(controller_1.axis3.position() - controller_1.axis1.position())) / 100), PERCENT)
motor_1.spin(FORWARD)
motor_2.spin(FORWARD)
motor_3.spin(FORWARD)
motor_4.spin(FORWARD)
wait(5, MSEC)
when_started1()
C++, arcade, exponential drive:
// "when started" hat block
int whenStarted1() {
Motor1.setStopping(coast);
Motor2.setStopping(coast);
Motor3.setStopping(coast);
Motor4.setStopping(coast);
while (true) {
Motor1.setVelocity((((Controller1.Axis3.position() + Controller1.Axis1.position()) * fabs(static_cast<float>(Controller1.Axis3.position() + Controller1.Axis1.position()))) / 100.0), percent);
Motor2.setVelocity((((Controller1.Axis3.position() + Controller1.Axis1.position()) * fabs(static_cast<float>(Controller1.Axis3.position() + Controller1.Axis1.position()))) / 100.0), percent);
Motor3.setVelocity((((Controller1.Axis3.position() - Controller1.Axis1.position()) * fabs(static_cast<float>(Controller1.Axis3.position() - Controller1.Axis1.position()))) / 100.0), percent);
Motor4.setVelocity((((Controller1.Axis3.position() - Controller1.Axis1.position()) * fabs(static_cast<float>(Controller1.Axis3.position() - Controller1.Axis1.position()))) / 100.0), percent);
Motor1.spin(forward);
Motor2.spin(forward);
Motor3.spin(forward);
Motor4.spin(forward);
wait(5, msec);
}
return 0;
}
int main() {
// post event registration
// set default print color to black
printf("\033[30m");
// wait for rotation sensor to fully initialize
wait(30, msec);
whenStarted1();
}
(C++ added weird printcolor and rotation sensor things)
Python, tank drive, exponential:
def when_started1():
global myVariable
motor_1.set_stopping(COAST)
motor_2.set_stopping(COAST)
motor_3.set_stopping(COAST)
motor_4.set_stopping(COAST)
while True:
motor_1.set_velocity(((controller_1.axis3.position() * math.fabs(controller_1.axis3.position())) / 100), PERCENT)
motor_2.set_velocity(((controller_1.axis3.position() * math.fabs(controller_1.axis3.position())) / 100), PERCENT)
motor_3.set_velocity(((controller_1.axis2.position() * math.fabs(controller_1.axis2.position())) / 100), PERCENT)
motor_4.set_velocity(((controller_1.axis2.position() * math.fabs(controller_1.axis2.position())) / 100), PERCENT)
motor_1.spin(FORWARD)
motor_2.spin(FORWARD)
motor_3.spin(FORWARD)
motor_4.spin(FORWARD)
wait(5, MSEC)
when_started1()
C++, tank drive, exponential:
// "when started" hat block
int whenStarted1() {
Motor1.setStopping(coast);
Motor2.setStopping(coast);
Motor3.setStopping(coast);
Motor4.setStopping(coast);
while (true) {
Motor1.setVelocity(((Controller1.Axis3.position() * fabs(static_cast<float>(Controller1.Axis3.position()))) / 100.0), percent);
Motor2.setVelocity(((Controller1.Axis3.position() * fabs(static_cast<float>(Controller1.Axis3.position()))) / 100.0), percent);
Motor3.setVelocity(((Controller1.Axis2.position() * fabs(static_cast<float>(Controller1.Axis2.position()))) / 100.0), percent);
Motor4.setVelocity(((Controller1.Axis2.position() * fabs(static_cast<float>(Controller1.Axis2.position()))) / 100.0), percent);
Motor1.spin(forward);
Motor2.spin(forward);
Motor3.spin(forward);
Motor4.spin(forward);
wait(5, msec);
}
return 0;
}
int main() {
// post event registration
// set default print color to black
printf("\033[30m");
// wait for rotation sensor to fully initialize
wait(30, msec);
whenStarted1();
}
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Firstly, you will need to put it inside of driver control. Second, you need to use Controller1.Axis2.value(). This will return a value between -100 to 100. Typically, vex teams will set the speed of the drivebase to this number in percent using each drive stick to control a seperate side of the robot. This is referred to as a tank drive.
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Which is not a great idea. The code generated by the block to C or Python generator, although being functional, is not particularly good code.
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controller::axis::value() will return an integer from [-127, 127] (don’t use this)
controller::axis::position() will return an integer from [-100, 100]
Here’s basic tank drive using two motor groups called LeftMotors and RightMotors (and a controller called Controller):
int usercontrol() {
while (true) {
int32_t left_speed = Controller.Axis3.position();
int32_t right_speed = Controller.Axis2.position();
LeftMotors.spin(vex::forward, left_speed, vex::percent);
RightMotors.spin(vex::forward, right_speed, vex::percent);
vex::wait(10, vex::msec);
}
}
You can swap out the values left_speed and right_speed to get other input methods.
For example, here’s dual-stick arcade:
int32_t left_speed = Controller.Axis3.position() + Controller.Axis1.position();
int32_t right_speed = Controller.Axis3.position() - Controller.Axis1.position();
… or single stick arcade using just the right joystick:
int32_t left_speed = Controller.Axis2.position() + Controller.Axis1.position();
int32_t right_speed = Controller.Axis2.position() - Controller.Axis1.position();
The actual actual vex::drivetrain class also implements a deadband to account for slight cases of joystick drift, although you probably don’t need this:
#include <cmath>
int usercontrol() {
constexpr int32_t DEADBAND = 5;
while (true) {
int32_t left_speed = Controller.Axis3.position();
int32_t right_speed = Controller.Axis2.position();
if (std::abs(left_speed) < DEADBAND) left_speed = 0;
if (std::abs(right_speed) < DEADBAND) right_speed = 0;
LeftMotors.spin(vex::forward, left_speed, vex::percent);
RightMotors.spin(vex::forward, right_speed, vex::percent);
vex::wait(10, vex::msec);
}
}
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