RobotC Functions Help

VEX V5 General Discussion General Forum
1

I am trying to use some functions in robotc to make my life easier, but my code did not work. Is this the correct place to define functions?

#pragma config(I2C_Usage, I2C1, i2cSensors)
#pragma config(Sensor, in1,    rightpot,       sensorPotentiometer)
#pragma config(Sensor, in2,    leftpot,        sensorPotentiometer)
#pragma config(Sensor, dgtl1,  autoncolor,     sensorTouch)
#pragma config(Sensor, dgtl2,  autonleftright, sensorTouch)
#pragma config(Sensor, dgtl3,  claw,           sensorQuadEncoder)
#pragma config(Sensor, dgtl7,  piston1,        sensorDigitalOut)
#pragma config(Sensor, dgtl8,  piston2,        sensorDigitalOut)
#pragma config(Sensor, dgtl12, light,          sensorDigitalOut)
#pragma config(Sensor, I2C_1,  ,               sensorQuadEncoderOnI2CPort,    , AutoAssign )
#pragma config(Sensor, I2C_2,  ,               sensorQuadEncoderOnI2CPort,    , AutoAssign )
#pragma config(Motor,  port1,           llift,         tmotorVex393_HBridge, openLoop, reversed)
#pragma config(Motor,  port2,           leftlift,      tmotorVex393HighSpeed_MC29, openLoop)
#pragma config(Motor,  port3,           clawright,     tmotorVex393HighSpeed_MC29, openLoop)
#pragma config(Motor,  port4,           liftright,     tmotorVex393HighSpeed_MC29, openLoop, reversed)
#pragma config(Motor,  port5,           chassisleft,   tmotorVex393HighSpeed_MC29, openLoop, encoderPort, I2C_1)
#pragma config(Motor,  port6,           chassisright,  tmotorVex393HighSpeed_MC29, openLoop, encoderPort, I2C_2)
#pragma config(Motor,  port7,           liftleft,      tmotorVex393HighSpeed_MC29, openLoop)
#pragma config(Motor,  port8,           clawleft,      tmotorVex393HighSpeed_MC29, openLoop)
#pragma config(Motor,  port9,           rightlift,     tmotorVex393HighSpeed_MC29, openLoop)
#pragma config(Motor,  port10,          rlift,         tmotorVex393_HBridge, openLoop, reversed)
/*---------------------------------------------------------------------------*/
/*                                                                           */
/*        Description: Competition template for VEX EDR                      */
/*                                                                           */
/*---------------------------------------------------------------------------*/

// This code is for the VEX cortex platform
#pragma platform(VEX2)

// Select Download method as "competition"
#pragma competitionControl(Competition)

//Main competition background code...do not modify!
#include "Vex_Competition_Includes.c"


float inches;
float degrees;
float liftvalue;


void driveforward(float inches)
{
	while(SensorValue[I2C_1] + SensorValue[I2C_2]/2 < (inches * 31.185362));
	{
		if(SensorValue[I2C_1] < SensorValue[I2C_2])
		{
			motor[chassisleft] = -127;
			motor[chassisleft] = 100;
		}
		else if(SensorValue[I2C_1] > SensorValue[I2C_2])
		{
			motor[chassisleft]= -100;
			motor[chassisright]= 127;
		}
		else
		{
			motor[chassisleft]= -127;
			motor[chassisright]= 127;
		}
	}
}



void drivebackwards(float inches)
{
	while(SensorValue[I2C_1] + SensorValue[I2C_2]/2 > (inches * 31.185362 * -1));
	{
		if(SensorValue[I2C_1] < SensorValue[I2C_2])
		{
			motor[chassisleft] = 127;
			motor[chassisleft] = -100;
		}
		else if(SensorValue[I2C_1] > SensorValue[I2C_2])
		{
			motor[chassisleft]= 100;
			motor[chassisright]= -127;
		}
		else
		{
			motor[chassisleft]= 127;
			motor[chassisright]= -127;
		}
	}
}

void turnleft(float degrees)
{
	while((SensorValue[I2C_1] *-1) + SensorValue[I2C_2]/2 < (inches * 31.185362 * 0.06544444444));
	{
		if((SensorValue[I2C_1] * -1)< SensorValue[I2C_2])
		{
			motor[chassisleft] = 127;
			motor[chassisleft] = 100;
		}
		else if((SensorValue[I2C_1] *-1) > SensorValue[I2C_2])
		{
			motor[chassisleft]= 100;
			motor[chassisright]= 127;
		}
		else
		{
			motor[chassisleft]= 127;
			motor[chassisright]= 127;
		}

	}

}


void turnright(float degrees)
{
	while(SensorValue[I2C_1] + (SensorValue[I2C_2]* -1)/2 < (inches * 31.185362 * 0.06544444444));
	{
		if(SensorValue[I2C_1]< (SensorValue[I2C_2] * -1))
		{
			motor[chassisleft] = -127;
			motor[chassisleft] = -100;
		}
		else if(SensorValue[I2C_1] > (SensorValue[I2C_2]* -1))
		{
			motor[chassisleft]= -100;
			motor[chassisright]= -127;
		}
		else
		{
			motor[chassisleft]= -127;
			motor[chassisright]= -127;
		}

	}

}

void liftup(float liftvalue)
{
	while(SensorValue[leftpot] + SensorValue[rightpot] /2 < liftvalue)
	{
		if(SensorValue[leftpot] < SensorValue[rightpot])
		{
			motor[leftlift] = 127;
			motor[llift] = 127;
			motor[liftleft] = 127;
			motor[rightlift] = 115;
			motor[rlift] = 115;
			motor[liftright] = 115;

		}
		else	if(SensorValue[leftpot] > SensorValue[rightpot])
		{
			motor[leftlift] = 115;
			motor[llift] = 115;
			motor[liftleft] = 115;
			motor[rightlift] = 127;
			motor[rlift] = 127;
			motor[liftright] = 127;

		}
		else
		{
			motor[leftlift] = 127;
			motor[llift] = 127;
			motor[liftleft] = 127;
			motor[rightlift] = 127;
			motor[rlift] = 127;
			motor[liftright] = 127;	
		}

	}

}

void liftdown(float liftvalue)
{
	while(SensorValue[leftpot] + SensorValue[rightpot] /2 > liftvalue)
	{
		if(SensorValue[leftpot] > SensorValue[rightpot])
		{
			motor[leftlift] = -127;
			motor[llift] = -127;
			motor[liftleft] = -127;
			motor[rightlift] = -115;
			motor[rlift] = -115;
			motor[liftright] = -115;

		}
		else	if(SensorValue[leftpot] < SensorValue[rightpot])
		{
			motor[leftlift] = -115;
			motor[llift] = -115;
			motor[liftleft] = -115;
			motor[rightlift] = -127;
			motor[rlift] = -127;
			motor[liftright] = -127;

		}
		else
		{
			motor[leftlift] = -127;
			motor[llift] = -127;
			motor[liftleft] = -127;
			motor[rightlift] = -127;
			motor[rlift] = -127;
			motor[liftright] = -127;	
		}

	}

}

void resetstuff()
{
	SensorValue[I2C_1] = 0;
	SensorValue[I2C_2] = 0;
	motor[port1]=0;
	motor[port2]=0;
	motor[port3]=0;
	motor[port4]=0;
	motor[port5]=0;
	motor[port6]=0;
	motor[port7]=0;
	motor[port8]=0;
	motor[port9]=0;
	motor[port10]=0;
}

void pre_auton()
{
	// Set bStopTasksBetweenModes to false if you want to keep user created tasks
	// running between Autonomous and Driver controlled modes. You will need to
	// manage all user created tasks if set to false.
	bStopTasksBetweenModes = true;

	// Set bDisplayCompetitionStatusOnLcd to false if you don't want the LCD
	// used by the competition include file, for example, you might want
	// to display your team name on the LCD in this function.
	// bDisplayCompetitionStatusOnLcd = false;

	// All activities that occur before the competition starts
	// Example: clearing encoders, setting servo positions, ...
}



task autonomous()
{
resetstuff();
driveforward(12);
turnleft(90);
resetstuff();
drivebackwards(6);
resetstuff();
turnright(90);
}
2

Not sure if this is your entire problem, but don’t put semicolons after the conditions of your while loops.

e.g.

void driveforward(float inches)
{
	while(SensorValue[I2C_1] + SensorValue[I2C_2]/2 < (inches * 31.185362)) //no ;
	{
		if(SensorValue[I2C_1] < SensorValue[I2C_2])
		{
			motor[chassisleft] = -127;
			motor[chassisleft] = 100;
		}
		else if(SensorValue[I2C_1] > SensorValue[I2C_2])
		{
			motor[chassisleft]= -100;
			motor[chassisright]= 127;
		}
		else
		{
			motor[chassisleft]= -127;
			motor[chassisright]= 127;
		}
	}
}
3

Use


 nMotorEncoder[motorname] = 0;

to reset IME values. Testing the values uses the same method.

4

I am questioning your order of operations.
Do you want half of the value of I2C_2 or half of the sum of I2C_1 + I2C_2? If its the sum then you should wrap them in parentheses so they are added first before being divided.


while( (SensorValue[I2C_1] + SensorValue[I2C_2] ) /2 < (inches * 31.185362) );
5

Another thing I noticed was:

float inches;
float degrees;
float liftvalue;

These values are unused during your code. When you define a variable as part of the arguments of a function, you define them at the scope of the function. So they can only be used within the function. There is no need to define them globally (in the main part of the program) so they can be defined at the function scope.

6

Thanks for your help. Ill try this out tonight.