Description:
In this Lab you will develop four Autonomous Routines to Play the CENTER STAGE Game. The routines must accomplish the objectives within 30 seconds. The routines are listed below:
Red Left (Auto_Red_Left.java)
Red Right (Auto_Red_Right.java)
Blue Left (Auto_Blue_Left.java)
Blue Right(Auto_Blue_Right.java)
Requirements:
Develop code, test, and run the Autonomous routines as described above. Your group must accomplish at least two of the four routines.
Make a video of your robot doing the autonomous routines (at least two)
Show the video to Mr. Michaud or upload Video to Google Classroom by Due Date
Resources:
To open and close the "hands" (servos), use the following commands:
robot.rightHand.setPosition(0); // Moves Right Servo to far position
robot.rightHand.setPosition(1); // Moves Right Servo to near position
robot.leftHand.setPosition(0); // Left Servo to far position
robot.leftHand.setPosition(1); // Left Servo to near position
// You can use values from 0.0 to 1.0 for Servos
To raise and lower the Arm, use these commands:
robot.leftArmMotorDeg(0.5, 90, 5); // Moves Arm 90 degrees at 0.5 power
Be careful with this command. You can get the arm stuck in awkward positions. I suggest you test this command with the Arm straight up to get and idea of how far the Arm will move.
To move the Spinner, try this command sequence:
robot.rightArm.setPower(0.8); // Starts motor
delay(5); // Waits 5 seconds
robot.rightArm.setPower(0); // Stops Motor
Example Command Sequence (Start on line 44 of the Auto_Red_Right.java)
// Start at Line 44
forward(24);
robot.leftArmMotorDeg(0.6, 45, 5); // Move Arm Up
robot.rightHand.setPosition(0); // Open Hand
robot.leftHand.setPosition(1); // Open Hand
delay(2); // Wait 2 seconds
right(90);
forward(48);
The above code might need to be adjusted to work exactly . This example is meant to be a guide.