SBHS CODE

	This is the library for and by the SBHS Robotics Club.
	

	This library is based on the Norman Advanced Robotics OpenCode library. 
	

	The two files follow what are fairly drastically different coding methodologies. 
	
CBC CLASS
	The CBC class file defines a class called cbc. Two cbc instances are called by default called lego and create. 
	

	Obivously, the lego instance is used to control the CBC connected to the lego bot and the create instance is used to control the cbc connected to the create.
	

	The cbc class has multiple structures that control different states of the bot. 
	

	The class also uses several methods that alter the states of the bot and control the bots in different ways. 
	

	
Structures:
	

		
drive_motors:
 
			
This structure contains the states of the motors that make the robot move around. Generally only used for the robot used in the lego bot because the create has its own drive motors. Initialized by default are left and right.
	

			includes:
 
			
port: the number port the drive motor is in
			
radius_to_middle: one half the distance between the drive motors (wheels)
			
ticks: amount of ticks in one revolution of the wheel. Nominally (or normally) 1000	
			
diameter: diameter of the wheel attatched to the motor
		
gen_motor:
 
			
This structure contains the states of the motors that do not make the robot move around, eg arms, levers, massive cranes. Normally used for both bots. Initialized by default are motors called gen[i] where i is the index of the motor.
	

			includes:

			
port: the number port that the motor is in
			
ticks: amount of ticks in one revolution of the wheel (1000)
			
diameter: diameter of the wheel attatched to the motor
		
servo:
			
This structure contains the states of the servos connected to the bots. Normally used for both bots.
	

			includes:

			
port: the number port that the servo is in
			
ticks: amount of ticks that the servo can go through (2048)
			
min: the minimum tick value (0)
			
max: the maximum tick value (2047)
	
	
		
s_analog:
			
This structure contains the two states used for analog sensors. 
	

			includes:

			
port: the port that the sensor is in
			
value: the current value of the port, defined by the analog10 function
		
s_digital:
			
This structure containse the two states used for digital sensors.
	

			includes:

			
port: the port that the sensor is in
			
value: the current value of the port defined by the digital function
	
Methods:

	

		
build_left_motor(int , float , float , float)
			
This method sets up the left drive motor, populating its values.

				
int p: port that the left drive motor is in
				
float r: radius to middle: one half the distance from one motor to the other
				
float t: ticks: the amount of ticks in one revolution of the wheel (1000)
				
float d: diameter of the wheel attatched to the motors 
		
build_right_motor(int , float , float , float)
			
This method sets up the right drive motor, populating its values.

				
int p: port that the left drive motor is in
				
float r: radius to middle: one half the distance from one motor to the other
				
float t: ticks: the amount of ticks in one revolution of the wheel (1000)
				
float d: diameter of the wheel attatched to the motors 
		
build_generic_motor(int , int , int , float)
			
This method sets up any index of the generic, non-drive related motors.

				
int n: index of the motor
				
int p: port of the motor
				
int t: ticks: the amount of ticks in one revolution of the wheel (1000)
				
float d: diameter: the diameter of the wheel attatched to the motor
		
build_servo(int , int , int , int , int)
			
This method sets up any index of the default servos.

				
int n: the index of the servo
				
int p: the port that the servo is in
				
int t: ticks: amount of ticks that the servo can go through (2048)
				
int mi: min: the minimum value of the servo (0)
				
int ma: max: the maximum value of the servo (2047)
		
drive_straight(int , float)
			This method makes the left and right motors drive forward at the same speed.

				
int s: speed: the forward velocity at ticks per second
				
int 
		
drive_arc(int, float , float , float)
		
drive_spin(int , float , int)
		
motor_spin_for(int , float , float , int)
		
motor_spin_ticks(int , int , int , int)
		
move_servo_to(int , int)
		
double_servo_move(int , int , int)
		
average(int , int)
		
ramp_up(float , float)
		
mm_to_ticks(float)
		
ticks_to_mm(float)
		
bmd_both()