FIRST Robotic Competition at CHS: Menace Manual

This code has been compiled and run on RedHat Linux 7.2 and on Windoze ME. The following procedure is for Linux.

Step	Description
make verify	Runs a small validation suite on the library and translator.
t=vars20020323	This is the basename of the .bsx file to be simulated.
./pb2c $t.bsx > $t.c	Compile pbasic to c.
cc -o $t pb_math.c pb_io.c $t.c	Compile c to binary.
./menace.tcl -e ./$t	The TCL code calls our new binary.

The joystick is represented by two sliders: joyX and joyY.

Pot1 has been turned into a 4 position switch by the software.

Pot Position	LED R2	LED G2	explanation
0 or 1: first half	0	0 or 1	the default wave shaping code: DEADSTICK
2: third quarter	1	0	joy**1.5: what we call sqrt
3: last quarter	1	1	joy**2: what we call quadradic

SW1 now controls filter:

LED R1 indicates when the goal grabber is released.

LED G1 shows when the left dumper cable is tense.

The slider at the bottom controls the time rate. Far right is close to real time.

The joystick trigger is represented by SW_JOYT.

There is no difference in the simulation between toggles and pushbuttons.

Running the simulator creates a log file with a great deal of information.

The left side green field

The black line shows the joystick position

The two red lines represent the tractor wheel speeds.

The right side green field

The bottom two lines represent the ball grabber motor speeds.

The top two lines represent the dumper winch positions.

That middle shape is the goal grabber.