October 13th Meeting

Ben's secondary robot.

Today, Ian worked on our chain-related components of our robots, as Jared worked on organizing the wiring on the robot and fixing other small details in the robot. Ben started to make a second robot, primarily for testing things that require another robot to test, like our endgame task. I worked on making our infrared values more accurate with a spinning radar-like mount. It is working good and is around 90% bug free at the moment. A code sample is posted below:

#pragma config(Hubs,  S1, HTMotor,  HTServo,  none,     none)
#pragma config(Sensor, S1,     ,               sensorI2CMuxController)
#pragma config(Sensor, S2,     HTIRS2,         sensorI2CCustom)
#pragma config(Motor,  motorA,          spinner,       tmotorNXT, PIDControl, encoder)
#pragma config(Motor,  mtr_S1_C1_1,     Wheel_Left,    tmotorTetrix, openLoop, reversed)
#pragma config(Motor,  mtr_S1_C1_2,     Wheel_Right,   tmotorTetrix, openLoop)
#pragma config(Servo,  srvo_S1_C2_1,    servo1,               tServoNone)
#pragma config(Servo,  srvo_S1_C2_2,    servo2,               tServoNone)
#pragma config(Servo,  srvo_S1_C2_3,    servo3,               tServoNone)
#pragma config(Servo,  srvo_S1_C2_4,    servo4,               tServoNone)
#pragma config(Servo,  srvo_S1_C2_5,    servo5,               tServoNone)
#pragma config(Servo,  srvo_S1_C2_6,    servo6,               tServoNone)
//*!!Code automatically generated by 'ROBOTC' configuration wizard               !!*//

#include "drivers/HTIRS2-driver.h"

task spin();

task main ()
{
    int _dirDC = 0;
    int _dirAC = 0;
    int _distDCsum = 0;
    int dcS1, dcS2, dcS3, dcS4, dcS5 = 0;
    int acS1, acS2, acS3, acS4, acS5 = 0;
   
    int total = 0;
    int count = 0;
    int combinedavg = 0;

    nxtDisplayTextLine(1, "Display Error!");
   
    StartTask(spin);

    while (true)
    {
        _dirDC = HTIRS2readDCDir(HTIRS2);
        if (_dirDC < 0)
            break;
        _dirAC = HTIRS2readACDir(HTIRS2);
        if (_dirAC < 0)
            break;
        if (!HTIRS2readAllDCStrength(HTIRS2, dcS1, dcS2, dcS3, dcS4, dcS5))
            break;
        if (!HTIRS2readAllACStrength(HTIRS2, acS1, acS2, acS3, acS4, acS5 ))
            break;
        _distDCsum = (dcS1 + dcS2 + dcS3 + dcS4 + dcS5);
        ClearTimer(T1);
        while(time1[T1] < 1600)
        {
            total = total + _dirDC;
           
            if (_dirDC != 0)
            {
                count = count + 1;
            }
        }
       
        int _dirAvgSpin = 0;
        _dirAvgSpin = abs(total / count);
        combinedavg = (combinedavg + _dirAvgSpin) / count;
       
        nxtDisplayTextLine(4, "DistAvg: %d", _dirAvgSpin);
        nxtDisplayTextLine(3, "AverageAvg: %d", combinedavg);
    }
}

task spin()
{
    while(true)
    {
        motor[spinner] = 15;
        wait1Msec(800);
        motor[spinner] = -15;
        wait1Msec(800);
    }
}

Meeting on the sixth of October

Today, we worked on many things. Some of those things were Ian's ring picker lift thingy. Ben worked on refining the weight machine to see if the ring was a weighted ring or if it was not. A-t-in worked on making the wheel assembly a lot better. He got rid of the annoying squeak that was bugging all of us. He also tried and made it not slip, which it does when it turns very quickly and sharply. Tyler worked on the autonomous program and also helped me work on the ramp. We have an idea to just lift the robot 1'' because that seems to be the most efficient way to do it. You score 30 points for the first inch and then only 5 points for every subsequent inch. Also I worked on my program to enhance the readability of it.