FTC Block Programming

IMPORTANT: if RC phone shows Network: unknown, then on the RC phone you must go to settings wifi, then Add network and type in the SSID, which is the network name that shows up in the programming page, then WPA/WPA2 PSK Security and the password, which is also on the programming page

Troubleshooting

• If cannot attach to network DIRECT-7p-BlackBerry-RC network
• In search bar in bottom left corner, look for Network & Sharing Center
• Set up a new connection or network
• Type in your network name: e.g., DIRECT-7p-BlackBerry-RC
• Select a Security type: WPA2-Personal
• For the Security Key: type in the passphrase for the network from your phone when you are in Programming Mode
• Now you should be able to go the browser and type in http://192.168.49.1:8080 and get the blocks program

what is autonomous

simple autonomous driving

Motor encoder

• tells you how far a motor's axel has turned.
• rotary encoder mounted to an electric motor that provides closed loop feedback signals by tracking the speed and/or position of a motor shaft.
• can be used to control a motor's speed, distance, and turning precision
• 
  

Set Motor Power to a particular value

using this method, speed is determined by:

• friction of wheels. if friction of one of the wheels is more than one of the other ones, the robot will not go straight
• weight of robot
• incline of ground

use encoders to make both wheels go at a specific speed

there is a motor controller built into the REV hub. can also have external motor controllers

RUN_USING_ENCODER and RUN_TO_POSITION motor controller modes tell the motor controller to use the motor encoder mounted on the motor's axel or built into the motor

RUN_USING_ENCODER - power values because a percentage of the maximum speed instead of actual power levels

• speed is calculated for us using the percentage specified in the motor power value and based on the motor brand (e.g., neverrest) and model specified in the configuration file
• motor controller uses the pulses from the encoder to monitor the speed of the motors and adjust the power as necessary to maintain the requested speed
• actuators->dc motors->dual and select "set Mode motor1 to RunMode RUN_USING_ENCODER; motor2 to RunMode RUN_USING_ENCODER;" and put in INIT block
• call "Use Encoders.waitForStart . after INIT block to wait for someone to push the START button on phone's driver station FTC app
• actuators->dc motors->dual and select "set Power motor1 to blank; motor2 to blank;" and put in RUN blocks

RUN_TO_POSITION - can specify target position as motor tick count. Motor will rotate

autonomous drive no encoders