Main File

Warning

Looking for the raw code or download? See the GitHub repository.

The robot’s complete code is under one file, main.cpp. This is done so as to simplify development as instances the given Proteus libraries could not be easily reused in multiple classes.

Representations

Alogrithm:

Flowchart:

Global Variables & Constants

Note

This does not include the motor, servo, and sensor definitions.

Type	Name	Description
Constant	MAX_RPM	The maximum RPM for IGWAN motors, used in setRadSToPercent
Constant	ENCODER_RES	The encoder resolution, used in countsToRadDisp
Constant	DELTA_T	The time between iterations in the PI control loop
Constant	COUNTS_PER_INCH	The number of encoder counts per inch, used in all forward functions
Constant	RPS_HEAD_CORR_SPEED	The default correction percent speed for correctHeading
float	RPS_RAMP_START_X	Stores the X coordinate for the start of the ramp waypoint, set by setupRPS
float	RPS_RAMP_START_Y	Stores the Y coordinate for the start of the ramp waypoint, set by setupRPS
float	RPS_RAMP_START_HEADING	Stores the heading for the start of the ramp waypoint, set by setupRPS
float	RPS_LEVERS_X	Stores the X coordinate for levers waypoint, set by setupRPS
float	RPS_LEVERS_Y	Stores the Y coordinate for levers waypoint, set by setupRPS
float	RPS_LEVERS_HEADING	Stores the heading for levers waypoint, set by setupRPS
float	RPS_BURGER_X	Stores the X coordinate for the burger flip waypoint, set by setupRPS
float	RPS_BURGER_Y	Stores the Y coordinate for the burger flip waypoint, set by setupRPS
float	FORWARD_TIME_OUT	The default timeout length for the corrections, in case the motors do not move
float	errorCurr1	Motor 1’s current error from the PIMoveTo, used by setRadSToPercent
float	errorCurr2	Motor 2’s current error from the PIMoveTo, used by setRadSToPercent
float	errorCurr3	Motor 3’s current error from the PIMoveTo, used by setRadSToPercent