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UOFTRASH_inRobotC
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UOFTRASH_inRobotC
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/*NOTE TO READER OR PROGRAMMER
motorA is the X direction (the longer rack)
motorB is the Y direction (the shorter rack)
motorC ink motor*/
//CODE WRITTEN BY JULIA BARIBEAU
const int BASEPOWER = 30;
void drawDiag(bool north, int angle, bool east, float dist)
{
int dirX, dirY;
float Xdist, Ydist, powerX, powerY;
if(north)
dirX = 1;
else
dirX = -1;
if(east)
dirY = 1;
else
dirY = -1;
Xdist = dirX * dist * cos(rad(angle));
Ydist = dirY * dist * sin(rag(angle));
powerX = BASEPOWER*sin(rad(angle));
powerY = BASEPOWER*cos(rad(angle));
motor[motorA] = powerX;
motor[motorB] = powerY;
double aSquared = pow((degreesToMM(nMotorEncoder[motorA])),2);
double bSquared = pow((degreesToMM(nMotorEncoder[motorB])),2);
while(aSquared + bSquared < dist*dist)
{}
motor[motorA] = motor[motorB] = 0;
}
float rad(float deg)
{
return deg*PI/180.0;
}
////////////////////////////////////////////////////////////////////////////////////////
//CODE WRITTEN BY KATHRINE
const int MOTORCON = 15;
void inkOn (bool inkMotor)
{
if (inkMotor == true)
motor[motorC]= MOTORCON;
else
motor[motorC]= 0;
}
double degreesToMM(int degrees)
{
return ((double)degrees/15);
}
//This code writes U OF TRASH
void uOfTrash()
{
drawU();
spaceAfterU();
drawO();
drawF();
spaceAfterF();
drawT();
drawR();
drawA();
drawS();
drawH();
}
void drawU()
{
motor[motorA]=motor[motorB]=motor[motorC]=0;
inkOn(true);
go_straight(motorB,-20);
go_straight(motorA,10);
go_straight(motorB,20);
inkOn(false);
}
void spaceAfterU() //Space between words is 1 cm
{
go_straight(motorA,10);
}
void drawO()
{
inkOn(true);
go_straight(motorA,10);
go_straight(motorB,-20);
go_straight(motorA,-10);
go_straight(motorB,20);
inkOn(false);
//Space between letters is 0.5cm however the O finishes at the bottom left corner and must travel 10 mm + 5mm
go_straight(motorA,15);
}
void drawF()
{
inkOn(true);
go_straight(motorB,-20);
inkOn(false);
go_straight(motorB,10);
inkOn(true);
go_straight(motorA,10);
inkOn(false);
go_straight(motorB,10);
inkOn(true);
go_straight(motorA,-10);
inkOn(false);
}
void spaceAfterF()
{
go_straight(motorA,20);
}
void drawT()
{
inkOn(true);
go_straight(motorA,10);
inkOn(false);
go_straight(motorA,-5);
inkOn(true);
go_straight(motorB,-20);
inkOn(false);
go_straight(motorA,10);
}
void drawR()
{
inkOn(true);
go_straight(motorB,20);
go_straight(motorA,10);
go_straight(motorB,-10);
go_straight(motorA,-10);
drawDiag(false, 45, true, sqrt(2)*10);
inkOn(false);
go_straight(motorA,5);
}
void drawA()
{
inkOn(true);
go_straight(motorB,20);
go_straight(motorA,10);
go_straight(motorB,-20);
inkOn(false);
go_straight(motorB,10);
inkOn(true);
go_straight(motorA,-10);
inkOn(false);
go_straight(motorA,15);
go_straight(motorB,-10);
}
void drawS()
{
inkOn(true);
go_straight(motorA,10);
go_straight(motorB,10);
go_straight(motorA,-10);
go_straight(motorB,10);
go_straight(motorA,10);
inkOn(false);
go_straight(motorA,5);
}
void drawH ()
{
inkOn(true);
go_straight(motorB,-20);
inkOn(false);
go_straight(motorA,10);
inkOn(true);
go_straight(motorB,20);
inkOn(false);
go_straight(motorB,-10);
inkOn(true);
go_straight(motorA,-10);
inkOn(false);
}