Function Library - 1264D/Starstruck GitHub Wiki

- JoyClear
- PowerCap
- AngleArm
- AngleCorrect

JoyClear

int JoyClear(int origVal) { 
    if (abs(origVal) < 10)
        return 0 
    else  
            return origVal;   
    }
}

Takes Joystick input (origVal) and analyzes value

If between -10 and 10, returns 0
Otherwise, returns original value

This function is used to stop to motors from whining when the joysticks are very near zero.

PowerCap

 int PowerCap(int motorPower){ 
    if(abs(motorPower) <= 127){ 
	 return motorPower;
    }
    else if(motorPower > 127){ 
	 return 127;
    }
    else{ 
	 return -127;
    }
  }

Takes Motor Power input (motorPower) and analyzes value

If within range of -127 and 127, then return normal value
If below -127, then set to -127
If above 127, then set to 127

This functions stops code from setting motor power to a value it cannot handle.

AngleArm

  void AngleArm(){
     if(AngleToggle == true){
	   if((SensorValue[Poten1] >= ArmAngle - 40) && (SensorValue[Poten1] <= ArmAngle + 40)) {
		  motor[Arm1] = 0;
		  motor[Arm2] = 0;
		  AngleToggle = false;
	   }
	   if(SensorValue[Poten1] <= ArmAngle - 40){
		  motor[Arm1] = 127;
		  motor[Arm2] = 127;
	   }
	   if(SensorValue[Poten1] >= ArmAngle + 40){ 
		  motor[Arm1] = -127;
		  motor[Arm2] = -127;
	   }
    }
   }

If potentiometer value is equal to requested angle, finish
If it is below requested value, increase motor power
If it is above requested value, decrease motor power

This function controls the preset arm angles.

AngleCorrect

   void AngleCorrect(){
      RealAngle = SensorValue[Poten2] + 700; 
      if((RealAngle >= (SensorValue[Poten1] - 40)) && (RealAngle <= (SensorValue[Poten1] + 40)) && AngleToggle2 == true){ 
            AngleToggle2 = false;
            motor[Arm2] = 0;
      }
      else if((RealAngle <= (SensorValue[Poten1] - 40))){ 
	    AngleToggle2 = true;
	    motor[Arm2] = 66;
      }
      else if((RealAngle >= (SensorValue[Poten1] + 40))){ 
	    AngleToggle2 = true;
	    motor[Arm2] = -66;
      }
    }