211Z-Sizzle-Code

This is the VEX Tower Takeover (2019 - 2020) code for 211Z in VexCode Pro V5 Text! It includes pre-autonomous, autonomous routine with a prototype PID autonomous function, and driver control!

This repository represents the team 211Z from Sir Winston Churchill Secondary School (St. Catharines, Ontario).

Dependencies
Installation
Features
Contributors
Contact

Dependencies

VexCode Pro V5 Text 2.0.0 or later

Installation

Make sure all the dependencies are installed
Download the files
- Option 1: 🍴 Fork this repository!
- Option 2: 🧪 Clone the repository to your local machine using https://github.com/sagarpatel211/211Z-Sizzle-Code.git!
Open 2019-2020_211Z_Code.v5code in VexCode to open the program
Download the program to the brain by connecting the V5 Brain or controller to the device via micro-USB and select download. In both options, the V5 Brain must be on!
Run the program by selecting it from the V5 Brain or pressing the play button in VexCode if the V5 Brain or controller is attached to the device via micro-USB.

Features

Contains all V5 Smart Motors set up

// [Name]               [Type]        [Port(s)]
// Controller1          controller                    
// RightBackDrive       motor         17              
// RightFrontDrive      motor         18              
// LeftBackDrive        motor         14              
// LeftFrontDrive       motor         20              
// TrayTilter           motor         15              
// IntakeArm            motor         1               
// RightIntake          motor         13              
// LeftIntake           motor         10

Autonomous for Unprotected Red Zone
PID For Tray Tilter and PID prototype for drive base in autonomous

ColumnError = pow((TrayTilter.rotation(rotationUnits::deg) - ColumnDesired),3); //This calculates the error from desired value and current value
ColumnDerivative = ColumnError - ColumnPreviousError; //This find the difference between the current error and previous error 
if (((TrayTilter.rotation(rotationUnits::deg) - ColumnDesired) < 5.0) && ((TrayTilter.rotation(rotationUnits::deg) - ColumnDesired) > -5.0)){
   ColumnIntegral = 0; //We don't need integral if the error is within +/- 5
}
else { //If It isn't within +/- 5
   ColumnIntegral += ColumnError; 
}
TrayTilter.spin(reverse,(ColumnError * ColumnKP + ColumnDerivative * ColumnKD + ColumnIntegral * ColumnKI), voltageUnits::volt);

Tank drive joystick/driver control

LeftBackDrive.spin(vex::directionType::fwd, (Controller1.Axis3.value() + (Controller1.Axis4.value()*0.3)), vex::velocityUnits::pct);
LeftFrontDrive.spin(vex::directionType::fwd, (Controller1.Axis3.value() + (Controller1.Axis4.value()*0.3)), vex::velocityUnits::pct);
RightBackDrive.spin(vex::directionType::fwd, (Controller1.Axis3.value() - (Controller1.Axis4.value()*0.3)), vex::velocityUnits::pct);
RightFrontDrive.spin(vex::directionType::fwd, (Controller1.Axis3.value() - (Controller1.Axis4.value()*0.3)), vex::velocityUnits::pct);

Contributors

Sagar Patel	Saurin Patel

`github.com/sagarpatel211`	`github.com/saurinpatel20`

Contact

Email | Website