This code controls the robot to press the final launch button, ending the run.
#ifndef LAUNCHBUTTON_H #define LAUNCHBUTTON_H void launchButton(); #endif // LAUNCHBUTTON_H
// Required custom libraries #include "constants.h" #include "drive.h" #include "worldstate.h" #include "launchbutton.h" /* This function drives the robot into the final launch button. * This function starts after the RSP y check after the robot goes down the main ramp * and ends after the robot hits the launch button. * Last modified: 4/2/2016 JKL */ void launchButton() { driveUntilTime(90, 100, 730, true); turnUntilTime(-60, 360); turnUntilRPS(225, 20, 2000); // The robot is given a 2x2 inch box it can correct its position to driveUntilRPSxRange( RPSFinalButtonX, 30, 45, 1, 1000); driveUntilRPSyRange( RPSFinalButtonY, 30, 45, 1, 1000); turnUntilRPS(225, 20, 2000); closeLog(); driveUntilTime(90, 130, 3000, true); } // end launchButton function
A fast version was also written.
#ifndef LAUNCHBUTTON_FAST_H #define LAUNCHBUTTON_FAST_H void launchButton_fast(); #endif // LAUNCHBUTTON_H
// Required custom libraries #include "constants.h" #include "drive.h" #include "worldstate.h" #include "launchbutton_fast.h" /* This function drives the robot into the final launch button. * This function starts after the RSP y check after the robot goes down the main ramp * and ends after the robot hits the launch button. * Last modified: 4/2/2016 JKL */ void launchButton_fast() { driveUntilTime(90, 120, 600, true); turnUntilTime(-60, 360); turnUntilRPS(225, 20, 2000); driveUntilRPSxRange( RPSFinalButtonX, 30, 45, 1, 1000); driveUntilRPSyRange( RPSFinalButtonY, 30, 45, 1, 1000); closeLog(); driveUntilTime(90, 130, 3000, true); } // end launchButton function