add files

.gitignore

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+/.vscode
+/bin
+/build
+compile_commands.json

Ri3D 2024.v5code

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+{"title":"Ri3D 2024","description":"Empty V5 C++ Project","icon":"USER921x.bmp","version":"23.09.1216","sdk":"20220726_10_00_00","language":"cpp","competition":false,"files":[{"name":"include/robot-config.h","type":"File","specialType":"device_config"},{"name":"include/vex.h","type":"File","specialType":""},{"name":"include/joystick.cpp","type":"File","specialType":""},{"name":"makefile","type":"File","specialType":""},{"name":"src/main.cpp","type":"File","specialType":""},{"name":"src/robot-config.cpp","type":"File","specialType":"device_config"},{"name":"vex/mkenv.mk","type":"File","specialType":""},{"name":"vex/mkrules.mk","type":"File","specialType":""},{"name":"include","type":"Directory"},{"name":"src","type":"Directory"},{"name":"vex","type":"Directory"}],"device":{"slot":1,"uid":"276-4810","options":{}},"isVexFileImport":false,"robotconfig":[]}

include/joystick.cpp

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+#include "vex.h"
+#include <cmath>
+
+
+/* 
+  this class was made by Cole Huffine class of 2024
+  lets hope rivera gives this to future classes bc
+  i think it would be useful for everyone
+*/
+
+/*
+  In order to use this class, put it in your "include" folder
+  and then put '#inlcude "joystick.cpp"' at the top of your main file
+
+  Usage:
+    If you need to get the value of a joystick fixed to account for the physical limitations
+      getLeftX();
+      getLeftY();
+      getRightX();
+      getRightY();
+
+    If you need to get the REAL value of a joystick, as inputted into the brain
+      getTrueLeftX();
+      getTrueLeftY();
+      getTrueRightX();
+      getTrueRightY();
+*/
+
+/*
+  If you want to use a second controller, or name your controller something else other than Controller1,
+  then go to all of the getTrue methods, and change the name to what you have as your config
+*/
+
+
+//this returns the sign of the value you pass in as a parameter
+//i originally made this file in java, and c++ doesnt have this
+//built in so i made it :)
+int signum(double val) {
+  return (val >= 0) ? 1 : -1;
+}
+
+
+//use these if you need to get the true value of any joystick
+double getTrueLeftX() {
+  return Controller1.Axis4.position(pct);
+}
+
+double getTrueLeftY() {
+  return Controller1.Axis3.position(pct);
+}
+
+double getTrueRightX() {
+  return Controller1.Axis1.position(pct);
+}
+
+double getTrueRightY() {
+  return Controller1.Axis2.position(pct);
+}
+
+/*
+  * This method is to fix the flawed input of a vex controller. The input is a box,
+  * both X and Y axis can go from -1 to 1. However, since the controller build physically
+  * forces the joystick into a circle, its impossible to reach the the corner of the box.
+  * This method fixes that issue.
+*/  
+double joystickFix(bool isLeft, bool isX) {
+  double root2 = sqrt(2);
+  double x = isLeft ? getTrueLeftX() : getTrueRightX();
+  double y = isLeft ? getTrueLeftY() : getTrueRightY();
+  double magnitude = sqrt(x*x + y*y);
+  double values[2] = {
+    signum(x) * fmin(fabs(x*root2), magnitude),
+    signum(y) * fmin(fabs(y*root2), magnitude)
+  };
+  return isX? values[0] : values[1];
+}
+
+
+// these return the fixed value of all of the joysticks
+double getLeftX() {
+  return joystickFix(true, true);
+}
+
+double getLeftY() {
+  return joystickFix(true, false);
+}
+
+double getRightX() {
+  return joystickFix(false, true);
+}
+
+double getRightY() {
+  return joystickFix(false, false);
+}
+
+

include/robot-config.h

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+using namespace vex;
+
+extern brain Brain;
+
+// VEXcode devices
+
+/**
+ * Used to initialize code/tasks/devices added using tools in VEXcode Pro.
+ * 
+ * This should be called at the start of your int main function.
+ */
+void  vexcodeInit( void );

include/vex.h

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+/*----------------------------------------------------------------------------*/
+/*                                                                            */
+/*    Module:       vex.h                                                     */
+/*    Author:       Vex Robotics                                              */
+/*    Created:      1 Feb 2019                                                */
+/*    Description:  Default header for V5 projects                            */
+/*                                                                            */
+/*----------------------------------------------------------------------------*/
+//
+#include <math.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+
+#include "v5.h"
+#include "v5_vcs.h"
+
+#include "robot-config.h"
+
+#define waitUntil(condition)                                                   \
+  do {                                                                         \
+    wait(5, msec);                                                             \
+  } while (!(condition))
+
+#define repeat(iterations)                                                     \
+  for (int iterator = 0; iterator < iterations; iterator++)

makefile

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+# VEXcode makefile 2019_03_26_01
+
+# show compiler output
+VERBOSE = 0
+
+# include toolchain options
+include vex/mkenv.mk
+
+# location of the project source cpp and c files
+SRC_C  = $(wildcard src/*.cpp) 
+SRC_C += $(wildcard src/*.c)
+SRC_C += $(wildcard src/*/*.cpp) 
+SRC_C += $(wildcard src/*/*.c)
+
+OBJ = $(addprefix $(BUILD)/, $(addsuffix .o, $(basename $(SRC_C))) )
+
+# location of include files that c and cpp files depend on
+SRC_H  = $(wildcard include/*.h)
+
+# additional dependancies
+SRC_A  = makefile
+
+# project header file locations
+INC_F  = include
+
+# build targets
+all: $(BUILD)/$(PROJECT).bin
+
+# include build rules
+include vex/mkrules.mk

src/main.cpp

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+/*----------------------------------------------------------------------------*/
+/*                                                                            */
+/*    Module:       main.cpp                                                  */
+/*    Author:       C:\Users\User                                             */
+/*    Created:      Wed Mar 27 2024                                           */
+/*    Description:  V5 project                                                */
+/*                                                                            */
+/*----------------------------------------------------------------------------*/
+
+// ---- START VEXCODE CONFIGURED DEVICES ----
+// Robot Configuration:
+// [Name]               [Type]        [Port(s)]
+// ---- END VEXCODE CONFIGURED DEVICES ----
+
+#include "vex.h"
+#include <cmath>
+#include "joystick.cpp"
+
+using namespace vex;
+
+competition  Competition;
+
+motor LeftDriveMotor = motor(1, ratio18_1, false);
+motor RightDriveMotor = motor(2, ratio18_1, false);
+motor FrontDriveMotor = motor(3, ratio18_1, false);
+motor BackDriveMotor = motor(4, ratio18_1, false);
+inertial Inertial = inertial(5);
+motor arm = motor(7, ratio36_1, false);
+motor deploy = motor(8, ratio18_1, false);
+motor climbMotorA = motor(9, ratio18_1, false);
+motor climbMotorB = motor(10, ratio18_1, true);
+motor_group climb = motor_group(climbMotorA, climbMotorB);
+controller Controller1 = controller(primary);
+
+
+class Drives {
+  public:
+    void static robotOirented() {
+      double yInput = getLeftY();
+      double xInput = getLeftX();
+      double turning = getTrueRightX();
+      double leftMotor = yInput + turning;
+      double rightMotor = yInput - turning;
+      double frontMotor = xInput + turning;
+      double backMotor = xInput - turning;
+
+      LeftDriveMotor.spin(fwd, leftMotor, velocityUnits::pct);
+      RightDriveMotor.spin(fwd, rightMotor, velocityUnits::pct);
+      FrontDriveMotor.spin(fwd, frontMotor, velocityUnits::pct);
+      BackDriveMotor.spin(fwd, backMotor, velocityUnits::pct);
+    }
+
+    void static autonDrive(double xIn, double yIn, double turnIn) {
+      double yInput = yIn;
+      double xInput = xIn;
+      double turning = turnIn;
+      double leftMotor = yInput + turning;
+      double rightMotor = yInput - turning;
+      double frontMotor = xInput + turning;
+      double backMotor = xInput - turning;
+
+      LeftDriveMotor.spin(fwd, leftMotor, velocityUnits::pct);
+      RightDriveMotor.spin(fwd, rightMotor, velocityUnits::pct);
+      FrontDriveMotor.spin(fwd, frontMotor, velocityUnits::pct);
+      BackDriveMotor.spin(fwd, backMotor, velocityUnits::pct);
+    }
+
+    void static fieldOriented() {
+      double headingRadians = Inertial.heading() * 3.141592/180;
+      double yInput = getLeftY();
+      double xInput = getLeftX();
+      double sineHeading = sin(headingRadians);
+      double cosHeading = cos(headingRadians);
+      double rotatedYInput = xInput * sineHeading + yInput * cosHeading;
+      double rotatedXInput = xInput * cosHeading - yInput * sineHeading;
+      double turning = getTrueRightX();
+      double leftMotor = rotatedYInput + turning;
+      double rightMotor = -rotatedYInput + turning;
+      double FrontMotor = rotatedXInput + turning;
+      double backMotor = -rotatedXInput + turning;
+
+      LeftDriveMotor.spin(fwd, leftMotor, velocityUnits::pct);
+      RightDriveMotor.spin(fwd, rightMotor, velocityUnits::pct);
+      FrontDriveMotor.spin(fwd, FrontMotor, velocityUnits::pct);
+      BackDriveMotor.spin(fwd, backMotor, velocityUnits::pct);
+    }
+};
+
+void pre_auton(void) {
+  Inertial.setHeading(0.0, degrees);
+  Inertial.setRotation(0.0, degrees);
+  Inertial.startCalibration();
+  while(Inertial.isCalibrating()) {
+    task::sleep(10);
+  }
+  Inertial.setHeading(0.0, degrees);
+  Inertial.setRotation(0.0, degrees);
+
+  // Initializing Robot Configuration. DO NOT REMOVE!
+  vexcodeInit();
+}
+
+void usercontrol(void) {
+  while(true) {
+    Drives::fieldOriented();
+
+    //zeroes inertial sensor
+    if(Controller1.ButtonY.pressing()) {
+      Inertial.setHeading(0.0, degrees);
+      Inertial.setRotation(0.0, degrees);
+      Inertial.startCalibration();
+      while (Inertial.isCalibrating()) {
+          task::sleep(10);
+      }
+      Inertial.setHeading(0.0, degrees);
+      Inertial.setRotation(0.0, degrees);
+    }
+
+  }
+}
+
+void auton(void) {
+  Drives::autonDrive(0.0, 0.5, 0);
+  task::sleep(4000);
+  Drives::autonDrive(0.0, 0.0, 0);
+}
+
+int main() {
+  pre_auton();
+
+  Competition.autonomous(auton);
+  Competition.drivercontrol(usercontrol);
+
+  while(true) {
+    task::sleep(10);
+  }
+
+}

src/robot-config.cpp

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+#include "vex.h"
+
+using namespace vex;
+using signature = vision::signature;
+using code = vision::code;
+
+// A global instance of brain used for printing to the V5 Brain screen
+brain  Brain;
+
+// VEXcode device constructors
+
+// VEXcode generated functions
+
+
+
+/**
+ * Used to initialize code/tasks/devices added using tools in VEXcode Pro.
+ * 
+ * This should be called at the start of your int main function.
+ */
+void vexcodeInit( void ) {
+  // nothing to initialize
+}