Autonomous Functions - SuitBots/ring-it-up GitHub Wiki

For autonomous functions, you must type the following:

#include Autonomous_Base.h

The Functions

forward()

void forward(short power, long distance, bool direction, char DrivL, char DrivR)

(void) Function makes motors DrivL and DrivR rotate so they will drive the bot a distance distance at power power

Parameter Explanation Data Type
power The amount of power put in the motor short
distance the distance you want the robot to go long
direction Set to true for forward and false for backward bool
DrivL The left Drive motor char
DrivR The right Drive motor char 
int initial_forward = 3;
forward(100, initial_forward, true, DriveL, DriveR);

swingTurn()

void swingTurn(short power, int degree, bool direction, char DrivL, char DrivR)

(void) Function makes motors DrivL and DrivR rotate so they will rotate the bot a degrees degrees at power power

Parameter Explanation Data Type
power The amount of power put in the motor short
distance the distance you want the robot to go long
direction Set to true for forward and false for backward bool
DrivL The left Drive motor char
DrivR The right Drive motor char 
int rotate_amt = 90;
swingTurn(100, rotate_amt, true, DriveL, DriveR);

pivotTurn()

void pivotTurn(short power, int degree, bool direction, char DrivL, char DrivR)

(void) rotates bot. Note: use swingTurn(), not this.

Parameter Explanation Data Type
power The amount of power put in the motor short
distance the distance you want the robot to go long
direction Set to true for forward and false for backward bool
DrivL The left Drive motor char
DrivR The right Drive motor char 
int rotate_amt = 90;
pivotTurn(100, rotate_amt, true, DriveL, DriveR);

IRSensorRegion()

int IRSensorRegion (char sensorName, bool reversed)

(int) Returns the 0-9 directional value returned by the IR sensor sensorName

Parameter Explanation Data Type
sensorName The sensor you want the data from char
reversed If true, instead of returning a 0-9 value, the function will return a 9-0 value bool 
int direction = IRSensorRegion(IRLeft, false);
if (direction == 5) {
  IRcolumn = MIDDLE;
}

IRmax_sig()

IRmax_sig (char sensor)

(int) Returns the IR signal strength read by sensor

Parameter Explanation Data Type
sensor The sensor you want the data from char 
int strength = IRmax_sig(IRright);
if (strength < THRESHOLD) {
  dead_reckoning_autonomous();
} else {
  sensing_autonomous();
}

dondePeg()

peg_t dondePeg(char sensor1, char sensor2)

(peg_t) Returns whether the IR beacon is on the left column, the right column, the middle column, or if it can't tell

Parameter Explanation Data Type
sensor1 The left IR sensor you want the data from char
sensor2 The right IR sensor you want the data from char 
peg_t IRcolumn = dondePeg(IRleft, IRright);
switch(IRcolumn) {
case(LEFT):
  execute_left_autonomous();
  break;
case(RIGHT):
  execute_right_autonomous();
  break;
case(MIDDLE):
  execute_middle_autonomous();
  break;
case(NONE);
  middle_dead_reckoning_autonomous();
  break;
}
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