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BotballHacks - simple calibration and movement function for botball

BotballHacks was designed for the intent of ease of calibration and use of botball. The code provides a simple and non-convoluted method of calibrating the botball, and provide simple movement functions for all your botball needs. This was orginally designed in 2019 by Harrison with his unreadable code and mathematics.

Contents

  1. Features
  2. Getting Started
  3. Documentation

Features

  • Simple, non-convoluted method of calibration.
  • Asymmetric calibration for uneven cars.
  • Basic movement function moveCentimeters(), rotate(), and more.
  • Automatic Calibration (Coming soon...)

Getting Started

Note: This is a work in progress at the moment better method coming soon

  1. Copy and paste the code into your code
  2. Calibrate your robot by adjusting the calibration constant need. For help you can find the calibration tutorial here.
// Calibration constants
#define leftMotor   1
#define rightMotor  0

#define wheelDistance   1.0 	// distance between from wheel to wheel

#define leftMotorWeight   1.0	// adjust until it travels 1 cm/s straight when at 1 velIRL
#define rightMotorWeight  1.0

#define maxVelIRL   10.0        // compute by taking 1000 and dividing it by the maximum of leftMotorWeight or rightMotorWeight
  1. After calibrating, your done! You can start using it for your botball needs.

Documentation

Here is a list of all the basic movement functions provided by BotballHacks.

moveCentimeter()

void moveCentimeter(double cm)

moveCentimeter() moves the botball cm centimeters at maximum speed.

rotate()

void rotate(double deg)

rotate() rotates the botball deg degrees anti-clockwise at maximum speed. For clockwise rotations input a negative value for deg.

moveCentimeterAtSpeed()

void moveCentimeterAtSpeed(double cm, double velIRL)

moveCentimeter() moves the botball cm centimeters at velIRL speed.

motorBoth()

void motorBoth(double velIRL)

moveCentimeter() moves the both wheel at velIRL speed.