{"mode":"Blocks","workspace":"myVariablesideAsideBsideCangleA2ConsolesideA600sideB450sideC0sqrtsideAsideAsideBsideBfwdmmFALSE200sideABrainFALSEA: BrainTRUEVEXcodesideArightFALSE90fwdmmFALSE200sideBBrainFALSEB: BrainTRUEVEXcodesideBCalculate angle aangleA0atansideAsideBBrainFALSEAngle a: BrainTRUEVEXcodeangleANeed to turn the exterior anglerightFALSE90180angleAfwdmmFALSE200sideCBrainFALSEC: BrainTRUEVEXcodesideC","rconfig":[{"port":[1,6],"name":"Drivetrain","customName":false,"deviceType":"Drivetrain","deviceClass":"smartdrive","setting":{"type":"2-motor","wheelSize":"200mm","gearRatio":"1:1","direction":"fwd","gyroType":"integrated","width":"173","unit":"mm","wheelbase":"76","wheelbaseUnit":"mm","xOffset":"0","yOffset":"0","thetaOffset":"0"},"triportSourcePort":22}],"slot":0,"platform":"IQ","sdkVersion":"20220726.10.00.00","appVersion":"2.4.5","minVersion":"2.4.0","fileFormat":"1.2.0","icon":"","targetBrainGen":"Second","cppStatus":"true","cpp":"// Make sure all required headers are included.\n#include \n#include \n#include \n#include \n#include \n\n\n#include \"vex.h\"\n\nusing namespace vex;\n\n// Brain should be defined by default\nbrain Brain;\n\n\n// START IQ MACROS\n#define waitUntil(condition) \\\n do { \\\n wait(5, msec); \\\n } while (!(condition))\n\n#define repeat(iterations) \\\n for (int iterator = 0; iterator < iterations; iterator++)\n// END IQ MACROS\n\n\n// Robot configuration code.\ninertial BrainInertial = inertial();\nmotor LeftDriveSmart = motor(PORT1, 1, false);\nmotor RightDriveSmart = motor(PORT6, 1, true);\n\nsmartdrive Drivetrain = smartdrive(LeftDriveSmart, RightDriveSmart, BrainInertial, 200);\n\n\nvoid calibrateDrivetrain() {\n wait(200, msec);\n Brain.Screen.print(\"Calibrating\");\n Brain.Screen.newLine();\n Brain.Screen.print(\"Inertial\");\n BrainInertial.calibrate();\n while (BrainInertial.isCalibrating()) {\n wait(25, msec);\n }\n\n // Clears the screen and returns the cursor to row 1, column 1.\n Brain.Screen.clearScreen();\n Brain.Screen.setCursor(1, 1);\n}\n\n// Generated code.\n\n// Include the IQ Library\n#include \"vex.h\"\n \n// Allows for easier use of the VEX Library\nusing namespace vex;\n\nint Brain_precision = 0, Console_precision = 0;\n\nfloat myVariable, sideA, sideB, sideC, angleA;\n\n// Used to find the format string for printing numbers with the\n// desired number of decimal places\nconst char* printToBrain_numberFormat() {\n // look at the current precision setting to find the format string\n switch(Brain_precision){\n case 0: return \"%.0f\"; // 0 decimal places (1)\n case 1: return \"%.1f\"; // 1 decimal place (0.1)\n case 2: return \"%.2f\"; // 2 decimal places (0.01)\n case 3: return \"%.3f\"; // 3 decimal places (0.001)\n default: return \"%f\"; // use the print system default for everthing else\n }\n}\n\n// \"when started\" hat block\nint whenStarted1() {\n Console_precision = 2;\n sideA = 600.0;\n sideB = 450.0;\n sideC = sqrt(sideA * sideA + sideB * sideB);\n Drivetrain.driveFor(forward, sideA, mm);\n Brain.Screen.print(\"A: \");\n Brain.Screen.print(printToBrain_numberFormat(), static_cast(sideA));\n Brain.Screen.newLine();\n Drivetrain.turnFor(right, 90.0, degrees);\n Drivetrain.driveFor(forward, sideB, mm);\n Brain.Screen.print(\"B: \");\n Brain.Screen.print(printToBrain_numberFormat(), static_cast(sideB));\n Brain.Screen.newLine();\n // Calculate angle a\n angleA = atan(sideA / sideB) * 180 / M_PI;\n Brain.Screen.print(\"Angle a: \");\n Brain.Screen.print(printToBrain_numberFormat(), static_cast(angleA));\n Brain.Screen.newLine();\n // Need to turn the exterior angle\n Drivetrain.turnFor(right, (180.0 - angleA), degrees);\n Drivetrain.driveFor(forward, sideC, mm);\n Brain.Screen.print(\"C: \");\n Brain.Screen.print(printToBrain_numberFormat(), static_cast(sideC));\n Brain.Screen.newLine();\n return 0;\n}\n\n\nint main() {\n // Calibrate the Drivetrain Gyro\n calibrateDrivetrain();\n\n whenStarted1();\n}","target":"Physical"}