Day 11 - Vex Programing of squarebot without encoders

• Today we assembled and programmed the squarebot to drive through a maze. We used commands to tell the robot where to go during the maze. This code is not autonomous because it is not dependent on any sensors.
• Here is the code for our sqaure bot

/*************************************************************************

VEX - Point Turns

Description: This program instructs your robot turn right for .75 seconds

and then turn left for .75 seconds. There is a two second pause at the

beginning of the program.

Configuration: This program is written to work with the Squarebot model.

Right Motor - port2

Left Motor - port3

Additional Notes:

- The "bMotorReflected[port2] = 1;" is needed with the Squarebot model,

but may not be needed for all robot configurations.

- Point Turns, or turns in place, are achieved by having the motors spin

in opposite directions.

*************************************************************************/

void stop(int x);

task main()

{

wait1Msec(3000); //Robot waits for 2000 milliseconds before executing program

bMotorReflected[port2] = 1; //Reflects the direction of the motor on port2

motor[port2] = 70; //Motor forward 1

motor[port3] = 70; //Motor on port3 is run at full (127) power forward

wait1Msec(3000);

stop(500);

//Turn LEFT

motor[port2] = 78; //Motor on port2 is run at full (-127) power reverse 68

motor[port3] = -83; //Motor on port3 is run at full (127) power forward

wait1Msec(400);//Robot runs previous code for 750 milliseconds before moving on

stop(500);

motor[port2] = 95; //FORWARD 2

motor[port3] = 95; //Motor on port3 is run at full (127) power forward

wait1Msec(1000);

stop(500);

motor[port2] = 130; //Turn 2nd LEFT

motor[port3] = -100; //Motor on port3 is run at full (127) power forward

wait1Msec(300);

stop(500);

motor[port2] = 85; //Forward 3

motor[port3] = 85; //Motor on port3 is run at full (127) power forward

wait1Msec(1700);

stop(500);

motor[port2] = -70; //Turn RIGHT

motor[port3] = 70; //Motor on port3 is run at full (127) power forward 68-70

wait1Msec(500);

stop(500);

motor[port2] = 60; //Foward 4

motor[port3] = 60; //Motor on port3 is run at full (127) power forward

wait1Msec(1000);

stop(500);

motor[port2] = -88; //Turn RIGHT

motor[port3] = 88; //Motor on port3 is run at full (127) power forward

wait1Msec(400);

stop(500);

motor[port2] = 80; //Final Forwa

motor[port3] = 80; //Motor on port3 is run at full (127) power forward

wait1Msec(2000);

} //Program ends, and the robot stops

void stop(int x)

{

motor[port2] = 0;

motor[port3] = 0;

wait1Msec(x);

}

• In addition here is a video that shows our square bot in action