#2014 TeleOp & Autonomous code for FTC Cascade Effect Challenge

View repository on github

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##Tele0p

The teleop code for this robot went from being a tank drive type robot to an omnidirectional platform capable of moving in all 4 directions as well as spinning in place. Controller 1 controls the robot's movement - left joystick controls straight motion, right joystick controls the rotation. Controller 2 is in charge of all of the other motors and servos on the robot. Both controllers will have the ability to use any sweeper mechanish on the robot, because it can be easier for one person to coordinate the sweeping with the movement of the robot.

As of January, we have switched back to a drive base of 2 wheels and 2 omniwheels. These are still controlled by Controller 1 in the same way as the omnidirectional platform. Controller 2 controls the goal post lock peg thing, the ball launcher, and the sweeper as well as the ball deflector.

Controller 1 can press the right joystick to toggle slomo mode, where the drive motors run at 30% power so that the robot is easier to control.

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##Autonomous

This year's autonomous is finished, but entirely untested. This is because the actual robot has been taken apart and reassembled 3 times. It is simplified from last year's, using more methods instead of writing out stuff many times.

task main() {

	StartTask(getHeading); ///start the compass loop
	StartTask(getIR); //start the IR loop

	waitForStart();

	moveForward(1500, 100);
	turnDeg("right", 120, 100);

	do {
		searchForLine(1000); //move forward until it finds a line on the ground
		turnDeg("left", 120, 100); //turn left 120deg (because the base is a hexagon and it needs to check 3 sides)
		if (irExists) { //if it sees a beacon after turning,
			beaconIsFound = true; //end the search loop.
		}
		counter++; //add 1 to counter because it only needs to check 3 sides (there are 2 beacons)
	} while (!beaconIsFound && counter < 3);

	//knock_stand_down()

} //end task main

####Files compiled:

TeleOp_TankDrive.c  
Autonomous\Auton_TankDrive_Dummy.c  
Autonomous\SmartAuton_TankDrive.c

We also have a separate program (MotorControl.c) to be able to control individual motors using just the NXT, for those times when we need to lower some arm back into the robot without needing to start RobotC and connect the robot to the laptop just to run a motor for 3 seconds.