211Z-Sizzle-Code

This is the VEX Tower Takeover (2019 - 2020) code for 211Z in VexCode Pro V5 Text! It includes pre-autonomous, autonomous routine with a prototype PID autonomous function, and driver control!

This repository represents the team 211Z from Sir Winston Churchill Secondary School (St. Catharines, Ontario).

Table of Contents

• Dependencies
• Installation
• Features
• Contributors
• Contact

Dependencies

VexCode Pro V5 Text 2.0.0 or later

Installation

• Make sure all the dependencies are installed
• Download the files
  • Option 1: 🍴 Fork this repository!
  • Option 2: 🧪 Clone the repository to your local machine using https://github.com/sagarpatel211/211Z-Sizzle-Code.git!
• Open 2019-2020_211Z_Code.v5code in VexCode to open the program
• Download the program to the brain by connecting the V5 Brain or controller to the device via micro-USB and select download. In both options, the V5 Brain must be on!
• Run the program by selecting it from the V5 Brain or pressing the play button in VexCode if the V5 Brain or controller is attached to the device via micro-USB.

Features

• Contains all V5 Smart Motors set up

// [Name]               [Type]        [Port(s)]
// Controller1          controller                    
// RightBackDrive       motor         17              
// RightFrontDrive      motor         18              
// LeftBackDrive        motor         14              
// LeftFrontDrive       motor         20              
// TrayTilter           motor         15              
// IntakeArm            motor         1               
// RightIntake          motor         13              
// LeftIntake           motor         10 

• Autonomous for Unprotected Red Zone
• PID For Tray Tilter and PID prototype for drive base in autonomous

ColumnError = pow((TrayTilter.rotation(rotationUnits::deg) - ColumnDesired),3); //This calculates the error from desired value and current value
ColumnDerivative = ColumnError - ColumnPreviousError; //This find the difference between the current error and previous error 
if (((TrayTilter.rotation(rotationUnits::deg) - ColumnDesired) < 5.0) && ((TrayTilter.rotation(rotationUnits::deg) - ColumnDesired) > -5.0)){
   ColumnIntegral = 0; //We don't need integral if the error is within +/- 5
}
else { //If It isn't within +/- 5
   ColumnIntegral += ColumnError; 
}
TrayTilter.spin(reverse,(ColumnError * ColumnKP + ColumnDerivative * ColumnKD + ColumnIntegral * ColumnKI), voltageUnits::volt);

• Tank drive joystick/driver control

LeftBackDrive.spin(vex::directionType::fwd, (Controller1.Axis3.value() + (Controller1.Axis4.value()*0.3)), vex::velocityUnits::pct);
LeftFrontDrive.spin(vex::directionType::fwd, (Controller1.Axis3.value() + (Controller1.Axis4.value()*0.3)), vex::velocityUnits::pct);
RightBackDrive.spin(vex::directionType::fwd, (Controller1.Axis3.value() - (Controller1.Axis4.value()*0.3)), vex::velocityUnits::pct);
RightFrontDrive.spin(vex::directionType::fwd, (Controller1.Axis3.value() - (Controller1.Axis4.value()*0.3)), vex::velocityUnits::pct);

Contributors

Sagar Patel	Saurin Patel
github.com/sagarpatel211	github.com/saurinpatel20

Contact

Email | Website