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SLA FTC Template code
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| #pragma config(Hubs, S1, MatrxRbtcs, none, none, none) | |
| #pragma config(Sensor, S1, , sensorI2CMuxController) | |
| #pragma config(Motor, mtr_Matrix_S1_1, motorD, tmotorMatrix, | |
| openLoop) | |
| #pragma config(Motor, mtr_Matrix_S1_2, motorE, tmotorMatrix, | |
| openLoop) | |
| #pragma config(Motor, mtr_Matrix_S1_3, motorF, tmotorMatrix, | |
| openLoop) | |
| #pragma config(Motor, mtr_Matrix_S1_4, motorG, tmotorMatrix, | |
| openLoop, reversed) | |
| #pragma config(Servo, srvo_Matrix_S1_1, servo1, | |
| tServoStandard) | |
| #pragma config(Servo, srvo_Matrix_S1_2, servo2, | |
| tServoNone) | |
| #pragma config(Servo, srvo_Matrix_S1_3, servo3, | |
| tServoNone) | |
| #pragma config(Servo, srvo_Matrix_S1_4, servo4, | |
| tServoNone) | |
| //*!!Code automatically generated by 'ROBOTC' configuration wizard | |
| ///////////////////////////////////////////////////////////////////////////////////////////////////// | |
| // | |
| // Tele-Operation Mode Code Template | |
| // | |
| // This file contains a template for simplified creation of an tele-op | |
| // program for an FTC | |
| // competition. | |
| // | |
| // You need to customize two functions with code unique to your specific | |
| // robot. | |
| // | |
| ///////////////////////////////////////////////////////////////////////////////////////////////////// | |
| #include "JoystickDriver.c" //Include file to "handle" the Bluetooth messages. | |
| ///////////////////////////////////////////////////////////////////////////////////////////////////// | |
| // | |
| // initializeRobot | |
| // | |
| // Prior to the start of tele-op mode, you may want to perform some | |
| // initialization on your robot | |
| // and the variables within your program. | |
| // | |
| // In most cases, you may not have to add any code to this function and | |
| // it will remain "empty". | |
| // | |
| ///////////////////////////////////////////////////////////////////////////////////////////////////// | |
| void initializeRobot() | |
| { | |
| servo[servo1] = 85; | |
| // Place code here to sinitialize servos to starting positions. | |
| // Sensors are automatically configured and setup by ROBOTC. They may | |
| // need a brief time to stabilize. | |
| return; | |
| } | |
| ///////////////////////////////////////////////////////////////////////////////////////////////////// | |
| // | |
| // Main Task | |
| // | |
| // The following is the main code for the tele-op robot operation. | |
| // Customize as appropriate for | |
| // your specific robot. | |
| // | |
| // Game controller / joystick information is sent periodically (about | |
| // every 50 milliseconds) from | |
| // the FMS (Field Management System) to the robot. Most tele-op programs | |
| // will follow the following | |
| // logic: | |
| // 1. Loop forever repeating the following actions: | |
| // 2. Get the latest game controller / joystick settings that have | |
| // been received from the PC. | |
| // 3. Perform appropriate actions based on the joystick + buttons | |
| // settings. This is usually a | |
| // simple action: | |
| // * Joystick values are usually directly translated into power | |
| // levels for a motor or | |
| // position of a servo. | |
| // * Buttons are usually used to start/stop a motor or cause a | |
| // servo to move to a specific | |
| // position. | |
| // 4. Repeat the loop. | |
| // | |
| // Your program needs to continuously loop because you need to | |
| // continuously respond to changes in | |
| // the game controller settings. | |
| // | |
| // At the end of the tele-op period, the FMS will autonmatically abort | |
| // (stop) execution of the program. | |
| // | |
| ///////////////////////////////////////////////////////////////////////////////////////////////////// | |
| task main() | |
| { | |
| initializeRobot(); | |
| waitForStart(); // wait for start of tele-op phase | |
| while (true) | |
| { | |
| getJoystickSettings(joystick); // Update Buttons and Joysticks | |
| motor[motorD] = joystick.joy1_x2; | |
| motor[motorF] = joystick.joy1_y1; | |
| motor[motorG] = joystick.joy1_y2; | |
| if(joy1Btn(1) ==1) | |
| { | |
| servo[servo1] = 0; | |
| } | |
| else | |
| { | |
| servo[servo1] = 170; | |
| } | |
| /////////////////////////////////////////////////////////// | |
| /////////////////////////////////////////////////////////// | |
| //// //// | |
| //// Add your robot specific tele-op code here. //// | |
| //// //// | |
| /////////////////////////////////////////////////////////// | |
| /////////////////////////////////////////////////////////// | |
| // Insert code to have servos and motors respond to joystick and | |
| // button values. | |
| // Look in the ROBOTC samples folder for programs that may be | |
| //similar to what you want to perform. | |
| // You may be able to find "snippets" of code that are similar to | |
| // the functions that you want to | |
| // perform. | |
| } | |
| } |
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