OVERVIEW | HARDWARE | SOFTWARE | GALLERY | THE TEAM

Header Files Code Files Pseudocode Description Main.c Main.html Main State Diagram Uses a state machine to run the robot at a high level Arm.h Arm.c Arm.html Swings the arm out to attack. Waves the arm in victory dance IRSensor.h IRSensor.c IRSensor.html Reads the input signal from the IR phototransistor circuit. Not implemented in our final code but needed for check-off Motors.h Motors.c Motors.html Handles motor movement: straight, differential, turn. Tracks encoder counts and translates into distance. Implements PID for closed loop control. myTimer.h myTimer.c myTimer.html Starts off a 1ms timer Position.h Position.c Position.html Navigates the robot between points on the board. PWM01.h PWM01.c PWM01.html Sets up Channels 0 and 1 for PWM. Used by the motors SPI.h SPI.c SPI.html The E128 queries the Target Commander over SPI for command instructions. We are only querying the TC with 0xAA and 0xEx. We do not send 0xBx. TapeSensors.h TapeSensors.c TapeSensors.html Tracks and aligns with tape sensors on the floor