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BlueFNP.vex
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BlueFNP.vex
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./___ThIsisATemPoRaRyFiLE___.json 000644 000765 000024 0000045753 13452215426 020212 0 ustar 00Kevin 000000 000000 13452215426 13452215426 {"title":"BlueFNP","description":"Use this template for all competition code.","version":"0.0.1","icon":"USER000x.bmp","competition":true,"files":{"robot-config.h":"dXNpbmcgbmFtZXNwYWNlIHZleDsKdmV4OjpicmFpbiBCcmFpbjsKdmV4Ojptb3RvciBMZWZ0QmFja0RyaXZlICh2ZXg6OlBPUlQxLCB2ZXg6OmdlYXJTZXR0aW5nOjpyYXRpbzE4XzEsZmFsc2UpOwp2ZXg6Om1vdG9yIExlZnRGcm9udERyaXZlICh2ZXg6OlBPUlQyLCB2ZXg6OmdlYXJTZXR0aW5nOjpyYXRpbzE4XzEsdHJ1ZSk7CnZleDo6bW90b3IgRmx5ICh2ZXg6OlBPUlQzLCB2ZXg6OmdlYXJTZXR0aW5nOjpyYXRpbzE4XzEsZmFsc2UpOwp2ZXg6Om1vdG9yIEludGFrZSAodmV4OjpQT1JUNSwgdmV4OjpnZWFyU2V0dGluZzo6cmF0aW8xOF8xLGZhbHNlKTsKdmV4Ojptb3RvciBGZWVkZXIgKHZleDo6UE9SVDYsIHZleDo6Z2VhclNldHRpbmc6OnJhdGlvMThfMSxmYWxzZSk7CnZleDo6bW90b3IgUmlnaHRGcm9udERyaXZlICh2ZXg6OlBPUlQ3LCB2ZXg6OmdlYXJTZXR0aW5nOjpyYXRpbzE4XzEsZmFsc2UpOwp2ZXg6Om1vdG9yIFJpZ2h0QmFja0RyaXZlICh2ZXg6OlBPUlQ4LCB2ZXg6OmdlYXJTZXR0aW5nOjpyYXRpbzE4XzEsdHJ1ZSk7CnZleDo6bW90b3IgU2VjcmV0V2VhcG9uICh2ZXg6OlBPUlQ5LCB2ZXg6OmdlYXJTZXR0aW5nOjpyYXRpbzE4XzEsdHJ1ZSk7CnZleDo6Y29udHJvbGxlciBDb250cm9sbGVyMTsKdmV4Ojpjb21wZXRpdGlvbiBDb21wZXRpdGlvbjs=","main.cpp":"/*---------------------------------------------------------------------*/
/*                            Alex  Klatsky                            */
/*        Ranney School  -  3815M  -  Spitfire (Blitz Alliance)        */
/*                                                                     */
/*---------------------------------------------------------------------*/

#include <robot-config.h>
using namespace vex;
#include <math.h>
#include <stdlib.h>
using namespace std;
vex::line line1(Brain.ThreeWirePort.A);
vex::line line2(Brain.ThreeWirePort.B);

void pre_auton( void ) {  
    
}


void forward(int x,int v){
    RightFrontDrive.startRotateFor(x,rotationUnits::deg,v,velocityUnits::pct);
    RightBackDrive.startRotateFor(x,rotationUnits::deg,v,velocityUnits::pct);
    LeftFrontDrive.startRotateFor(x,rotationUnits::deg,v,velocityUnits::pct);
    LeftBackDrive.startRotateFor(x,rotationUnits::deg,v,velocityUnits::pct);
}
void backward(int x,int v){
    RightFrontDrive.startRotateFor(-x,rotationUnits::deg,v,velocityUnits::pct);
    RightBackDrive.startRotateFor(-x,rotationUnits::deg,v,velocityUnits::pct);
    LeftFrontDrive.startRotateFor(-x,rotationUnits::deg,v,velocityUnits::pct);
    LeftBackDrive.startRotateFor(-x,rotationUnits::deg,v,velocityUnits::pct);
}
void turnRight(int x,int v){
    RightFrontDrive.startRotateFor(-x,rotationUnits::deg,v,velocityUnits::pct);
    RightBackDrive.startRotateFor(-x,rotationUnits::deg,v,velocityUnits::pct);
    LeftFrontDrive.startRotateFor(x,rotationUnits::deg,v,velocityUnits::pct);
    LeftBackDrive.startRotateFor(x,rotationUnits::deg,v,velocityUnits::pct);
}
void turnLeft(int x,int v){
    RightFrontDrive.startRotateFor(x,rotationUnits::deg,65,velocityUnits::pct);
    RightBackDrive.startRotateFor(x,rotationUnits::deg,65,velocityUnits::pct);
    LeftFrontDrive.startRotateFor(-x,rotationUnits::deg,65,velocityUnits::pct);
    LeftBackDrive.startRotateFor(-x,rotationUnits::deg,65,velocityUnits::pct);
}






void autonomous( void ) {
   
    
    
    
    
    Intake.setMaxTorque(100,percentUnits::pct); 
    
    Fly.spin(directionType::rev,100,velocityUnits::pct);
    Intake.spin(directionType::fwd,100,velocityUnits::pct);
    forward(1000,65);
    task::sleep(2200);
    backward(1015,65);
    task::sleep(1700);
    turnRight(296,65);
    task::sleep(1100);
    Feeder.rotateFor(200,rotationUnits::deg,100,velocityUnits::pct);
    forward(900,90);
    task::sleep(600);
    Feeder.rotateFor(500,rotationUnits::deg,100,velocityUnits::pct);
    LeftFrontDrive.startRotateFor(150,rotationUnits::deg,90,velocityUnits::pct);
    LeftBackDrive.startRotateFor(150,rotationUnits::deg,90,velocityUnits::pct);
    task::sleep(500);
    forward(100,90);
    SecretWeapon.rotateFor(850,rotationUnits::deg,100,velocityUnits::pct);
    LeftFrontDrive.startRotateFor(-135,rotationUnits::deg,90,velocityUnits::pct);
    LeftBackDrive.startRotateFor(-135,rotationUnits::deg,90,velocityUnits::pct);
    task::sleep(600);
    SecretWeapon.startRotateFor(-850,rotationUnits::deg,100,velocityUnits::pct);
    backward(900,60);
    task::sleep(1400);
    turnLeft(180,65);
    task::sleep(1400);
    Intake.spin(directionType::rev,100,velocityUnits::pct);
    forward(580,65);
    Feeder.spin(directionType::fwd,100,velocityUnits::pct);
   
}


//USERCONTROL
void usercontrol( void ) {
  // User control code here, inside the loop
  while (1){
    RightFrontDrive.setMaxTorque(100,percentUnits::pct);
    RightBackDrive.setMaxTorque(100,percentUnits::pct); 
    LeftFrontDrive.setMaxTorque(100,percentUnits::pct); 
    LeftBackDrive.setMaxTorque(100,percentUnits::pct);
    Fly.setMaxTorque(100,percentUnits::pct); 
      SecretWeapon.setMaxTorque(100,percentUnits::pct); 
     
    //Change Sensitivity of Controller, Axis1
    int value1=0;
    int value3=0;
      
    if(Controller1.Axis1.value()>0&&Controller1.Axis1.value()<=100){
        value1=Controller1.Axis1.value()/2;
    }
    else if(Controller1.Axis1.value()>100){
        value1=pow(Controller1.Axis1.value(),2)/200;
    }
    if(Controller1.Axis1.value()<0&&Controller1.Axis1.value()>=-100){
        value1=Controller1.Axis1.value()/2;
    }
    else if(Controller1.Axis1.value()<-100){
        value1=-pow(Controller1.Axis1.value(),2)/200;
    } 
      
    //Value 3 Unchanged
    value3=(Controller1.Axis3.value()); 
    LeftFrontDrive.spin(vex::directionType::fwd,(value1+value3),vex::velocityUnits::pct);
    LeftBackDrive.spin(vex::directionType::fwd,(value1+value3),vex::velocityUnits::pct); 
    RightFrontDrive.spin(vex::directionType::rev,(value1-value3),vex::velocityUnits::pct); 
    RightBackDrive.spin(vex::directionType::rev,(value1-value3),vex::velocityUnits::pct);
    
    
    if(Controller1.ButtonR2.pressing())
    {
        Intake.spin(directionType::fwd,200,velocityUnits::rpm);
    }
    else if(Controller1.ButtonR1.pressing())
    {
        Intake.spin(directionType::rev,200,velocityUnits::rpm);
    }
    else
    {
      Intake.stop(brakeType::coast);
       
    }
      
    
    /*
    if(Controller1.ButtonL1.pressing())
    {
        Intake.spin(directionType::fwd,200,velocityUnits::rpm);
        Feeder.rotateFor(200,rotationUnits::deg,100,velocityUnits::pct);
        SecretWeapon.spin(directionType::rev,200,velocityUnits::rpm);
        task::sleep(100);
        Feeder.spin(directionType::fwd,200,velocityUnits::rpm);
        task::sleep(300);
        SecretWeapon.stop(brakeType::hold);
        Intake.stop(brakeType::coast);
        Feeder.stop(brakeType::coast);
        task::sleep(300);
        SecretWeapon.rotateFor(-15,rotationUnits::deg,100,velocityUnits::pct);
    }  
    */
      
      
      if(Controller1.ButtonL1.pressing())
    {
        Feeder.startRotateFor(200,rotationUnits::deg,100,velocityUnits::pct);
        Intake.startRotateFor(100,rotationUnits::deg,100,velocityUnits::pct);
          task::sleep(200);
          RightFrontDrive.spin(directionType::fwd,200,velocityUnits::rpm);
          RightBackDrive.spin(directionType::fwd,200,velocityUnits::rpm);
          LeftFrontDrive.spin(directionType::fwd,200,velocityUnits::rpm);
          LeftBackDrive.spin(directionType::fwd,200,velocityUnits::rpm);
          SecretWeapon.spin(directionType::rev,100,velocityUnits::rpm);
        task::sleep(100);
        Feeder.spin(directionType::fwd,200,velocityUnits::rpm);
        Intake.spin(directionType::fwd,200,velocityUnits::rpm);
        SecretWeapon.spin(directionType::rev,100,velocityUnits::rpm);
        task::sleep(300); 
    } 
      
   //Feeder  
    if(Controller1.ButtonL2.pressing())
    {
        Intake.startRotateFor(2000,rotationUnits::deg,100,velocityUnits::pct);
        Feeder.rotateFor(200,rotationUnits::deg,100,velocityUnits::pct);

    }
    else
    {
        Feeder.stop(brakeType::coast);
    }
      
    //SW  
    if(Controller1.ButtonA.pressing())
    {
        SecretWeapon.spin(directionType::fwd,170,velocityUnits::rpm);
    }
    else if(Controller1.ButtonY.pressing())
    {
        SecretWeapon.spin(directionType::rev,170,velocityUnits::rpm);
    }
    else
    {
       SecretWeapon.stop(brakeType::coast);
    }  
      if(Controller1.ButtonB.pressing())
    {
        Feeder.spin(directionType::rev,200,velocityUnits::rpm);
    }
    
    //Fly
    if(Controller1.ButtonUp.pressing())
    {
        Fly.spin(directionType::rev,200,velocityUnits::rpm);
    }
    else if(Controller1.ButtonDown.pressing())
    { 
         Fly.stop(brakeType::coast);
    }
    else
    {
       
    }
    
   
      
      
    vex::task::sleep(20);
  }
}
   





//START PID
int sgn(double val)
{
    return val > 0 ? 1 : -1;
}
void turnTo(double degrees, double speed = 60)
{
    degrees *= 96.0/90.0;
    double P = 0, kp =.7;
    double I = 0, ki = 0.004;
    double D = 0, kd = 0.03;
    double error = 100; 
    double lastError = 100;
    double motorPower = 0;
    int iThresh = 25;
    while(true)
    {
        lastError = error;
        //error = degrees - Gyro1.value(rotationUnits::deg);

        if (abs(error) > 180)
            error =  sgn(error) * (360 - abs(error));

        P = error * kp;
        D = kd * (error - lastError);

        if (abs(error) < iThresh)
            I += error * ki;

        if (abs(I) > 15)
          I = 15 * sgn(error);

        motorPower = P + I + D;

        if(abs(error) <= 0.1 && abs(lastError) <= .1) break; // Break statement

        if(abs(motorPower) > abs(speed))
            motorPower = speed * sgn(motorPower);

        LeftBackDrive.spin(directionType::fwd, motorPower, velocityUnits::pct);
        RightBackDrive.spin(directionType::fwd, -motorPower, velocityUnits::pct);
        RightFrontDrive.spin(directionType::fwd, -motorPower, velocityUnits::pct);
        LeftFrontDrive.spin(directionType::fwd, motorPower, velocityUnits::pct);

        task::sleep(10);
    }
    LeftBackDrive.stop(brakeType::brake);
    RightBackDrive.stop(brakeType::brake);
    RightFrontDrive.stop(brakeType::brake);
    LeftFrontDrive.stop(brakeType::brake);
    task::sleep(50); // Sleep here so we do not have to in the autonomous function
}

double stblConst = .7;

double rampUp(double deltaV, int cycles, int timeSlice, double angle = 0)
{
    double currVel = RightFrontDrive.velocity(velocityUnits::pct);
    RightFrontDrive.resetRotation();
    
    // Gyro Stabilization variables
    double leftAdjustPwr = 0;
    double init = angle;
    
    for (int i = 0; i < cycles; i++)
    {
        currVel += deltaV/cycles;
    
        //leftAdjustPwr = stblConst * (Gyro1.value(rotationUnits::deg) - init); // Tracking difference in gyro value

        // Setting motor powers
        LeftBackDrive.spin(directionType::fwd, currVel - leftAdjustPwr, velocityUnits::pct);
        RightBackDrive.spin(directionType::fwd, currVel, velocityUnits::pct);
        RightFrontDrive.spin(directionType::fwd, currVel, velocityUnits::pct);
        LeftFrontDrive.spin(directionType::fwd, currVel - leftAdjustPwr, velocityUnits::pct);

        task::sleep(timeSlice);
    }

    return RightFrontDrive.rotation(rotationUnits::rev);
}

void drive(double inches, double speed, int cycles = 15, int timeSlice = 50, double heading = -121, bool turn = true)
{
    // Converting inches to motor rotations
    double init = 0;
    //if(heading != -121) init = heading;
    double rots = inches / (4 * 3.1415);
    rots -= rampUp(speed, cycles, timeSlice, init); // Subtracting ramping distance from total

    // PID Variables
    double P = 0, kp = 150; //75
    double I = 0, ki = .95;
    double D = 0, kd = 250; //230
    double error = 0, lError = 0;
    double iThresh = .5;
    double motorPower = 0;

    // Gyro Stabilization variables
    double leftAdjustPwr = 0;

    // Reset rotations before PID loop
    RightFrontDrive.resetRotation();

    // Reset Brain Timer Before PID Loop
    Brain.resetTimer();
    //int theoreticalTime = abs(rots / (speed * 2) / 60);

    // PID Loop
    while (abs(RightFrontDrive.rotation(rotationUnits::rev)) < abs(rots)/* && Brain.timer(timeUnits::msec) < theoreticalTime + 1000*/)
    {
        // Setting PID Variables
        error = rots - (RightFrontDrive.rotation(rotationUnits::rev));
        P = error * kp;
        D = (error - lError) * kd;

        if (abs(error) < iThresh)
            I += error * ki;
        else
            I = 0;

        motorPower = abs(P) + abs(I) - abs(D); // Manually setting motor power

        if (abs(motorPower) > abs(speed)) // Limiting motor power to top speed
            motorPower = abs(speed);

        if(speed < 0) // In case of going backwards
            motorPower *= -1;

        //leftAdjustPwr = stblConst * (Gyro1.value(rotationUnits::deg) - init); // Tracking difference in gyro value

        // Setting motor powers
        LeftBackDrive.spin(directionType::fwd, motorPower - leftAdjustPwr, velocityUnits::pct);
        RightBackDrive.spin(directionType::fwd, motorPower, velocityUnits::pct);
        RightFrontDrive.spin(directionType::fwd, motorPower, velocityUnits::pct);
        LeftFrontDrive.spin(directionType::fwd, motorPower - leftAdjustPwr, velocityUnits::pct);

        task::sleep(50);
        lError = error;
    }

    // Stopping motors after loop ends
    LeftBackDrive.stop(brakeType::brake);
    RightBackDrive.stop(brakeType::brake);
    RightFrontDrive.stop(brakeType::brake);
    LeftFrontDrive.stop(brakeType::brake);
    /*if(turn)
        turnTo(init);
        */
    // Sleep here so we do not have to in the autonomous function
    if (abs(inches) >= 16)
        task::sleep(100);
    else
        task::sleep(50);
}
//END PID





int main() {
    pre_auton();
    Competition.autonomous( autonomous );
    Competition.drivercontrol( usercontrol );
                     
    while(1) {
      vex::task::sleep(100);//Sleep the task for a short amount of time to prevent wasted resources.
    }    
       
}"},"device":{"slot":5,"type":"vexV5"},"language":{"name":"vc++"},"components":[{"name":"RightFrontDrive","class":"vex::motor","port":"7","left":251,"top":318,"type":"motor","data":{"gears":200,"reversed":false}},{"name":"RightBackDrive","class":"vex::motor","port":"8","left":251,"top":486,"type":"motor","data":{"gears":200,"reversed":true}},{"name":"LeftFrontDrive","class":"vex::motor","port":"2","left":64,"top":476,"type":"motor","data":{"gears":200,"reversed":true}},{"name":"Controller1","class":"vex::controller","left":463,"top":192,"type":"controller"},{"name":"Fly","class":"vex::motor","port":"3","left":368,"top":0,"type":"motor","data":{"gears":200,"reversed":false}},{"name":"Feeder","class":"vex::motor","port":"6","left":553,"top":0,"type":"motor","data":{"gears":200,"reversed":false}},{"name":"Intake","class":"vex::motor","port":"5","left":642,"top":467,"type":"motor","data":{"gears":200,"reversed":false}},{"name":"LeftBackDrive","class":"vex::motor","port":"1","left":62,"top":311,"type":"motor","data":{"gears":200,"reversed":false}},{"name":"SecretWeapon","class":"vex::motor","port":"9","left":663,"top":124,"type":"motor","data":{"gears":200,"reversed":true}}]}