![]() ![]() 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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