-
Notifications
You must be signed in to change notification settings - Fork 0
/
syncmotors.c
61 lines (55 loc) · 1.07 KB
/
syncmotors.c
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
void pivot_turn(float degrees);
void swing_turn(float degrees);
void forward(float revolutions);
task main() {
nSyncedMotors = synchBC;
nSyncedTurnRatio = 100;
for (int i = 0; i < 12; i++) {
if (i % 2 == 0) {
forward(5.5);
}
else {
forward(4.5);
}
if (i == 10) {
swing_turn(90.0);
}
else {
pivot_turn(90.0);
}
}
nSyncedMotors = synchNone;
}
void pivot_turn(float degrees) {
nSyncedTurnRatio = -100;
if (degrees > 0) {
motor[motorB] = 20;
}
else {
motor[motorB] = -20;
}
wait1Msec((fabs(degrees)/360.0) * 4250.0);
nSyncedTurnRatio = 100;
motor[motorB] = 0;
}
void swing_turn(float degrees) {
nSyncedMotors = synchNone;
if (degrees > 0) {
motor[motorB] = 20;
}
else {
motor[motorB] = -20;
}
wait1Msec((fabs(degrees)/360.0) * 7500.0);
nSyncedMotors = synchBC;
nSyncedTurnRatio = 100;
motor[motorB] = 0;
}
void forward(float revolutions) {
nMotorEncoder[motorB] = 0;
nMotorEncoderTarget[motorB] = revolutions * 360;
nSyncedTurnRatio = 100;
motor[motorB] = 50;
while(nMotorRunState[motorB] != runStateIdle) {}
motor[motorB] = 0;
}