Performance Task 2

Warning

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

This is the code for performance task 2. The goal was to move from the start position, up the ramp, and then dump the tray in the sink. The bonus task was to touch the burger tray. Note that the final position to dump the tray was altered in the final code to increase speed.

Code

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arm_servo.SetDegree(65);
PIMoveTo("start1.txt", 31, true);
for(int i = 65; i >= 45; i-=2) {
   arm_servo.SetDegree(i);
   Sleep(10);
}
PIMoveTo("mR34.txt", 31, false);

Sleep(0.5);
rotateCC(-25, 90);
Sleep(0.5);
PIMoveTo("toSink.txt", 31, false);

Sleep(0.5);

sinkDump();
rotateCC(-25, 152);

Sleep(0.5);

forward31(25, 24.0);
forward31(-25, .1);
rotateCC(-25, 30);

arm_servo.SetDegree(90.0);
jukebox_servo.SetDegree(170.0);
Sleep(0.75);
forward12(25, 5);
jukebox_servo.SetDegree(160.0);
Sleep(0.5);
PIMoveTo("slideT.txt", 26, false);
Sleep(0.5);
forward12(-25, 23);