Im not sure if I tagged it right but I think its ok. Anyway we are having trouble with this and was wondering if there would be a certain code to do this. Thanks for any help at all.
Here is some boilerplate code to get you started.
// Left Motors and motor group motor leftMotorA = motor(PORT1, ratio18_1, false); motor leftMotorB = motor(PORT2, ratio18_1, false); motor leftMotorC = motor(PORT3, ratio18_1, false); motor_group LeftDriveGroup = motor_group(leftMotorA, leftMotorB, leftMotorC); // Right Motors and motor group motor rightMotorA = motor(PORT11, ratio18_1, true); motor rightMotorB = motor(PORT12, ratio18_1, true); motor rightMotorC = motor(PORT13, ratio18_1, true); motor_group RightDriveGroup = motor_group(rightMotorA, rightMotorB, rightMotorC); // Drivetrain control distanceUnits units = distanceUnits::in; //Imperial measurements - inches. double wheelTravel = 4 * M_PI; //Circumference of the drive wheels (4" x PI) double trackWidth = 18; //Distance between the left and right center of wheel. double wheelBase = 15; //Distince between the center of the front and back axle. double gearRatio = 1; //Ratio of motor rotations to wheel rotations if using gears. //Drivetrain code if using an Inertial Sensor inertial DrivetrainInertial = inertial(PORT21); smartdrive robotDrive = smartdrive(LeftDriveGroup, RightDriveGroup, DrivetrainInertial, wheelTravel, gearRatio); //Use the following Drivetrain code if NOT using an Inertial Sensor //drivetrain robotDrive(LeftDriveGroup, RightDriveGroup, wheelTravel, trackWidth, wheelBase, distanceUnits::in );
Ok so this is all done in an auto generate section so I think tomorrow I just need to see if the control code works