ROBOTC -集成编码器编程自主

Question

我有一个X驱动器是用ROBOTC编码的。我和我的团队已经在机器人上安装了集成的电机编码器(用于自主阶段)。但是，它们运行的代码是不正确的。下面是当前的自治代码。当我运行它时，它只会以不同的速度永远前进。

我看过多个教程，但没有一个能起作用。，有人有代码让马达(393马达)数到720?吗？

#pragma config(I2C_Usage, I2C1, i2cSensors)
#pragma config(Sensor, I2C_1, sensorQuadEncoderOnI2CPort, AutoAssign)
#pragma config(Motor,  port2, FL, tmotorVex393_MC29, PIDControl, encoderPort, I2C_1)
#pragma config(Motor,  port3, BR, tmotorVex393_MC29, PIDControl, reversed, encoderPort, I2C_1)
#pragma config(Motor,  port8, BL, tmotorVex393_MC29, PIDControl, encoderPort, I2C_1)
#pragma config(Motor,  port9, FR, tmotorVex393_MC29, PIDControl, reversed, encoderPort, I2C_1)
//*automatically generated by 'ROBOTC' configuration wizard               *//

task main()
{
// Autonomous with Integrated Encoders
nMotorPIDSpeedCtrl[FL] = mtrSpeedReg;
nMotorPIDSpeedCtrl[FR] = mtrSpeedReg;
nMotorPIDSpeedCtrl[BL] = mtrSpeedReg;
nMotorPIDSpeedCtrl[BR] = mtrSpeedReg;

//Clears motor values
nMotorEncoder[FL] = 0;
nMotorEncoder[FR] = 0;
nMotorEncoder[BL] = 0;
nMotorEncoder[BR] = 0;

//Forward
motor[FL] = 63;
motor[FR] = 63;
motor[BL] = 63;
motor[BR] = 63;
   while(nMotorEncoder[FL] < 720) {
}

//Clears motor values
nMotorEncoder[FL] = 0;
nMotorEncoder[FR] = 0;
nMotorEncoder[BL] = 0;
nMotorEncoder[BR] = 0;

}

Answer 1

您需要在while循环之后显式地停止电机(而不仅仅是将编码器调零)。否则，机器人不知道停下来，它只知道它通过了编码器目标。

因此，这段代码应该适用于您：

//Clears motor values
nMotorEncoder[FL] = 0;
nMotorEncoder[FR] = 0;
nMotorEncoder[BL] = 0;
nMotorEncoder[BR] = 0;

 motor[FL] = 63;
 motor[FR] = 63;
 motor[BL] = 63;
 motor[BR] = 63;
//Forward
while(nMotorEncoder[FL] < 720) {
}
//stops motors
motor[FL] = 0;
motor[FR] = 0;
motor[BL] = 0;
motor[BR] = 0;
//Clears motor encoder values
nMotorEncoder[FL] = 0;
nMotorEncoder[FR] = 0;
nMotorEncoder[BL] = 0;
nMotorEncoder[BR] = 0;