This class is the easiest to use, so we will use it for this tutorial. ChassisControllerIntegrated uses the V5 motor's built-in position and velocity control to move the robot around. There are two main subclasses we can use: ChassisControllerIntegrated and ChassisControllerPID. It also provides closed-loop control methods to drive a specific distance or turn a specific angle. It also provides methods to move the robot programmatically, like driving in an arc or only powering one side of the chassis. This interface lets you use open-loop control methods to drive the robot around with a joystick, like tank and arcade control. OkapiLib uses something called a ChassisController to interact with a robot's chassis. The last 3 commands ( make, upload, terminal) can be simplified to prosv5 mut. To create, build, and upload a new project in PROS 3, run prosv5 conduct new prosv5 make prosv5 upload prosv5 terminal For the purposes of this tutorial, we've plugged in our motors into the following ports: Port You can follow VEX's tutorial for building this robot here. Programmed an encoder-based autonomous routine.Understood the standard subsystem module methodology.Programmed a joystick axis to control the clawbot's claw.Programmed buttons to control the clawbot's lift.Programmed a basic chassis with "tank" control or "arcade" control.Understood the basic organization of an OkapiLib project.GoalsĪt the end of this tutorial you will have: If you haven't programmed before, we recommend checking out all the "Introduction and Basic C++ Features" and "Classes and Objects" sections of this tutorial series. This tutorial is intended for developers with some programming experience, but with little to no experience with OkapiLib. This tutorial will guide you through basic programming of the VEX Clawbot.
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