Rotational Sensor

Programming Support
1

Hey
So my driver wants to make it so that our angler can move to a specific angle to score with our conveyer. I know you can set positions with a rotational sensor but I don’t know how, I have never worked with rotationals. Can anyone help.
Here is the code

def conveyer_forward():
    CONVEYER.spin(FORWARD)

def conveyer_reverse():
    CONVEYER.spin(REVERSE)

def conveyer_stop():
    CONVEYER.stop()


def angler_up():
    ANGLER.spin(FORWARD)

def angler_down():
    ANGLER.spin(REVERSE)

def angler_stop():
    ANGLER.stop()
 


def fourbar_up():
    FOURBAR.spin(FORWARD)

def fourbar_down():
    FOURBAR.spin(REVERSE)

def fourbar_stop():
    FOURBAR.stop()


def clamp_close():
    CLAMP.spin(FORWARD)

def clamp_open():
    CLAMP.spin(REVERSE)

def clamp_stop():
    CLAMP.stop()







controller_1.buttonL1.pressed(fourbar_up)
controller_1.buttonL1.released(fourbar_stop)

controller_1.buttonL2.pressed(fourbar_down)
controller_1.buttonL2.released(fourbar_stop)


controller_1.buttonR1.pressed(angler_up)
controller_1.buttonR1.released(angler_stop)

controller_1.buttonR2.pressed(angler_down)
controller_1.buttonR2.released(angler_stop)


controller_1.buttonB.pressed(clamp_open)
controller_1.buttonB.released(clamp_stop)

controller_1.buttonA.pressed(clamp_close)
controller_1.buttonA.released(clamp_stop)


controller_1.buttonUp.pressed(conveyer_forward)
controller_1.buttonUp.released(conveyer_stop)

controller_1.buttonLeft.pressed(conveyer_reverse)
controller_1.buttonLeft.released(conveyer_stop)








drivetrain.set_drive_velocity(100,PERCENT)
drivetrain.set_stopping(COAST)

CONVEYER.set_velocity(100,PERCENT)
CONVEYER.set_stopping(COAST)

ANGLER.set_velocity(100,PERCENT)
ANGLER.set_stopping(HOLD)

FOURBAR.set_velocity(100,PERCENT)
FOURBAR.set_stopping(HOLD)

CLAMP.set_velocity(100,PERCENT)
CLAMP.set_stopping(HOLD)






def pre_auton():
    brain.screen.clear_screen()
    brain.screen.print("pre auton code")
    wait(1, SECONDS)

def autonomous():
    count=0
    brain.screen.clear_screen()
    ANGLER.spin_for(REVERSE,645,DEGREES)
    drivetrain.drive_for(FORWARD,57, INCHES)
    wait(.25,SECONDS)
    ANGLER.spin_for(FORWARD, 200, DEGREES)
    wait(3,SECONDS)
    drivetrain.drive_for(REVERSE, 50, INCHES)
    while True:
        brain.screen.print_at("Running Auton... %6d" %(count), x=10, y=60)
        count = count + 1
        wait(100, MSEC)


def usercontrol():
    count = 0
    brain.screen.clear_screen()
    while True:
        brain.screen.print_at("Running driver... %6d" %(count), x=10, y=40)
        count = count + 1
        wait(100, MSEC)

comp = Competition(usercontrol, autonomous)
2

Or is there a better way to do this

3

I’m not familiar with python, but in vexcode pro you can do motor.rotateTo() and specify an encoder position. You probably have something similar in python. I think this is what you are trying to acheive.