clawbot.c File Reference

Clawbot demo code. More...

#include <stdlib.h>
#include "ch.h"
#include "hal.h"
#include "vex.h"
#include "smartmotor.h"
#include "robotc_glue.h"
#include "clawbot.h"

Macros
#define	MotorDriveR   kVexMotor_1
#define	MotorArm   kVexMotor_8
#define	MotorClaw   kVexMotor_9
#define	MotorDriveL   kVexMotor_10
#define	armPot   kVexAnalog_1
#define	clawPot   kVexAnalog_2
#define	ARM_UPPER_LIMIT   2000
#define	ARM_LOWER_LIMIT   600
#define	ARM_PRESET_H   2000
#define	ARM_PRESET_L   650
#define	CLAW_OPEN_HIGH_SPEED   80
#define	CLAW_CLOSE_HIGH_SPEED   -80
#define	CLAW_OPEN_LOW_SPEED   20
#define	CLAW_CLOSE_LOW_SPEED   -15

Enumerations
enum	clawCommand { kClawNoCommand = 0, kClawOpenCommand, kClawCloseCommand, kClawStopCommand }

Functions
void	DriveSystemArcadeDrive (short forward, short turn)
task	DriveTask (void *arg)
task	ArmPidController (void *arg)
task	ClawController (void *arg)
task	ManualArmClawTask (void *arg)
void	vexUserSetup ()
void	vexUserInit ()
msg_t	vexAutonomous (void *arg)
msg_t	vexOperator (void *arg)

Variables
clawCommand	clawCmd = kClawNoCommand

Detailed Description

Clawbot demo code.

Macro Definition Documentation

#define MotorDriveR   kVexMotor_1

Examples:

clawbot.c.

#define MotorArm   kVexMotor_8

Examples:

clawbot.c.

#define MotorClaw   kVexMotor_9

Examples:

clawbot.c.

#define MotorDriveL   kVexMotor_10

Examples:

clawbot.c.

#define armPot   kVexAnalog_1

Examples:

clawbot.c.

#define clawPot   kVexAnalog_2

#define ARM_UPPER_LIMIT   2000

Examples:

clawbot.c.

#define ARM_LOWER_LIMIT   600

Examples:

clawbot.c.

#define ARM_PRESET_H   2000

Examples:

clawbot.c.

#define ARM_PRESET_L   650

Examples:

clawbot.c.

#define CLAW_OPEN_HIGH_SPEED   80

Examples:

clawbot.c.

#define CLAW_CLOSE_HIGH_SPEED   -80

Examples:

clawbot.c.

#define CLAW_OPEN_LOW_SPEED   20

Examples:

clawbot.c.

#define CLAW_CLOSE_LOW_SPEED   -15

Examples:

clawbot.c.

Enumeration Type Documentation

enum clawCommand

Enumerator
kClawNoCommand
kClawOpenCommand
kClawCloseCommand
kClawStopCommand

Examples:

clawbot.c.

Function Documentation

void DriveSystemArcadeDrive	(	short	forward,
		short	turn
	)

Examples:

clawbot.c.

task DriveTask

(

void *

arg)

Examples:

clawbot.c.

task ArmPidController

(

void *

arg)

Examples:

clawbot.c.

task ClawController

(

void *

arg)

Examples:

clawbot.c.

task ManualArmClawTask

(

void *

arg)

Examples:

clawbot.c.

void vexUserSetup

(

void

)

void vexUserInit

(

void

)

msg_t vexAutonomous

(

void *

arg)

msg_t vexOperator

(

void *

arg)

Variable Documentation

clawCommand clawCmd = kClawNoCommand

Examples:

clawbot.c.