Add slider and make it functional

[RunaAM]

TO DO:

• [x] add code for rotatory base
• [x] add code for the slider
• [x] add code for claw
• [x] calibrate all of them

[RunaAM]

UPDATE 17.01.23

Today we started constructing an arm for the robot to grasp cones and move them to those yellow pillars. We have installed a rotatory base (a wheel with a diameter of 15 cm and a rev core hex motor where the slider will be fixed ). To program this new motor we have created some new function named slider_base_rotate() which is similar to the rotate() function because it takes the same parameter: degrees , power and direction. After implementing a rudimentary implementation and testing the motor would not move. We thought the problem was a hardware kind and to prove that we implemented in the control part file so that everytime the button X and Y on the gamepad1 is pressed the wheel would spin left or right. When we started the program the wheel moved fine without a problem. We debugged the code for half and hour and found out that the motor would move to the right but not to the left, the cause of that was that the distance would be positive no matter what even though the code for changing direction was: if(dir == "right"){ distance = distance; }else if(dir == "left){ distance = -distance; } We changed distance to degrees and the code ran fine: if(dir == "right"){ degrees =degrees; }else if(dir == "left){ degrees = -degrees; }

After resolving the issue we have refactored the code:

• calculate_distance() now takes distance, wheel_diameter and ticks (because we use 2 diferent motors)
  • the constructor for the StimDC class now takes DcMotor rotatory_base as a fifth argument
  • const_lateral_movement became CONST_LATERAL_MOVEMENT
  • TICKS_PER_REVOLUTION became GO_TICKS_PER_REVOLUTION since we now use 2 diferent types of motors, there should not be a confusion in the code
  • slider_wheel became SLIDER_WHEEL and changed from 1.12 cm to 0.4409 in

[RunaAM]

Update 22.01.23

Today i worked from home on the StimDC class and made these following changes:

• overloaded the constructor with one that takes no argumerts and added new function called init_slider(DcMotor slider, Servo c1, Servo c2) and init_wheel_motors(DcMotor front_left, DcMotor front_right,DcMotor back_left, DcMotor back_right)
• run_using_encoders() will be deprecated and added run_using_encoders_wheel_motors() and run_using_encoders_slider()
• stop() will be deprecated and added stop_wheel_power() and stop_slider()
• reset_encoders() will be deprecated and added reset_encoders_wheel_motors() and reset_encoders_slider()
• fixed slider_wheel and rotatory_base variables by multiplying the values by PI because those were used for storing the circumference not the diameter
• changed in lateral() and rotate() function the if statement from if(dir == "right") to if(dir.equals("right"))

[RunaAM]

Update 23.01.23 -> 29.01.23

This week we have further optimised the StimDC class because the robot would sometimes wait seconds when stopping, reseting encoders, enabling encoders etc before 22.01.23 and started experimenting with Kotlin by cloning the StimDc class and renaming KStimDC for differentiating from each other