this should be easier for others to read. I’ll look at the actual code later if no one responds.
/----------------------------------------------------------------------------/
/* /
/ Module: main.cpp /
/ Author: VEX /
/ Created: Thu Sep 26 2019 /
/ Description: Clawbot Competition Template /
/ /
/----------------------------------------------------------------------------*/
// ---- START VEXCODE CONFIGURED DEVICES ----
// Robot Configuration:
// [Name] [Type] [Port(s)]
// Controller1 controller
// Drivetrain drivetrain 1, 10, D
// ClawMotor motor 3
// ArmMotor motor 8
// ---- END VEXCODE CONFIGURED DEVICES ----
#include “vex.h”
using namespace vex;
// A global instance of competition
competition Competition;
// define your global instances of motors and other devices here
/---------------------------------------------------------------------------/
/* Pre-Autonomous Functions /
/ /
/ You may want to perform some actions before the competition starts. /
/ Do them in the following function. You must return from this function /
/ or the autonomous and usercontrol tasks will not be started. This /
/ function is only called once after the V5 has been powered on and /
/ not every time that the robot is disabled. /
/---------------------------------------------------------------------------*/
void pre_auton(void) {
// Initializing Robot Configuration. DO NOT REMOVE!
vexcodeInit();
// All activities that occur before the competition starts
// Example: clearing encoders, setting servo positions, …
}
//settings
double integral = 0;
double previouserror = 7200;
double Kp = 0.18; //somewhat tuned-.18
double Ki = 0.000000000001;
double Kd = 0.05;
int sensorvalue = 0;
bool enablePID = true;
int drivePID() {
while (sensorvalue < 7200) {
double error = 7200 - sensorvalue;
integral = integral + error;
if (error == 0) {
integral = 0;
}
double derivative = error - previouserror;
previouserror = error;
double speed = (Kp * error) + (Ki * integral) + (Kd * derivative);
ArmMotor.setVelocity(speed, percent);
ArmMotor.spin(forward);
sensorvalue = ArmMotor.position(degrees);
}
return 1;
}
/---------------------------------------------------------------------------/
/* /
/ Autonomous Task /
/ /
/ This task is used to control your robot during the autonomous phase of /
/ a VEX Competition. /
/ /
/ You must modify the code to add your own robot specific commands here. /
/---------------------------------------------------------------------------*/
void autonomous(void) {
vex::task bill(drivePID);
vex::task::sleep(2000);
vex::task billl(drivePID);
}
/---------------------------------------------------------------------------/
/* /
/ User Control Task /
/ /
/ This task is used to control your robot during the user control phase of /
/ a VEX Competition. /
/ /
/ You must modify the code to add your own robot specific commands here. /
/---------------------------------------------------------------------------*/
void usercontrol(void) {
// User control code here, inside the loop
enablePID = false;
while (1) {
if (Controller1.ButtonA.pressing()) {
ArmMotor.spinFor(forward, 90, degrees);
} else {
}
// This is the main execution loop for the user control program.
// Each time through the loop your program should update motor + servo
// values based on feedback from the joysticks.
// ........................................................................
// Insert user code here. This is where you use the joystick values to
// update your motors, etc.
// ........................................................................
wait(20, msec); // Sleep the task for a short amount of time to
// prevent wasted resources.
}
}
//
// Main will set up the competition functions and callbacks.
//
int main() {
// Set up callbacks for autonomous and driver control periods.
Competition.autonomous(autonomous);
Competition.drivercontrol(usercontrol);
// Run the pre-autonomous function.
pre_auton();
// Prevent main from exiting with an infinite loop.
while (true) {
wait(100, msec);
}
}