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Merge branch 'tag/v2.1'

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This commit is contained in:
Austen Adler 2015-03-23 11:47:25 -04:00
commit 03bcdd5a12
28 changed files with 118 additions and 160 deletions
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8
Commands/Autonomous/AutoDrive.cpp
View File

@ -4,10 +4,10 @@
AutoDrive::AutoDrive(double duration, double xtmp, double ytmp, double ztmp, bool useGyro): Command("AutoDrive"){
Requires(DentRobot::drivetrain);
SetTimeout(duration);
x=xtmp;
y=ytmp;
z=ztmp;
gyro=useGyro;
x = xtmp;
y = ytmp;
z = ztmp;
gyro = useGyro;
}
void AutoDrive::Initialize(){
DentRobot::drivetrain->ResetGyro();

4
Commands/Autonomous/AutoDrive.h
View File

@ -23,9 +23,9 @@ class AutoDrive: public Command{
*
* @param duration Timeout in seconds
* @param xtmp Joystick x value (default: 0.0)
* @param ytmp Joystick y value (default: 0.75)
* @param ytmp Joystick y value (default: -0.75)
* @param ztmp Joystick z value (default: 0.0)
* @param useGyro Use the gyro when driving
* @param useGyro Use the gyro when driving (default: true)
*/
AutoDrive(double duration, double xtmp = 0.0, double ytmp = -0.75, double ztmp = 0.0, bool useGyro = true);
/**

8
Commands/Autonomous/Autonomous.cpp
View File

@ -71,19 +71,19 @@ Autonomous::Autonomous(int seq){
//TODO: Implement this
break;
case 7:
// Same as auto 4 with (Three|Two) totes checked, collect bin, drive to Auto Zone (TM), release totes
// Same as auto 4, then collect bin, drive to Auto Zone (TM), release totes
//TODO: Implement this
break;
case 8:
//Use rear elevator to move tote
AddSequential(new Turn(1.8));
AddSequential(new AutoDrive(2.3,0.0,-0.75));
AddSequential(new AutoDrive(2.3, 0.0, -0.75));
AddSequential(new Turn(1.8));
break;
case 9:
//Use rear elevator to move bin
AddSequential(new BinLower(.1));
AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Zone Distance"),0.0,0.75));
AddSequential(new BinLower(0.1));
AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Zone Distance"), 0.0, 0.75));
AddSequential(new Turn(2.1));
break;
default:

16
Commands/Autonomous/Autonomous.h
View File

@ -19,15 +19,27 @@
* Sequence 2: Collects a tote, turns, then drives to the auto zone
*
* Sequence 3: Collects two or three totes then drives to auto zone
*
* Sequence 4: Collect one, two, or three totes, drive to Auto Zone, release totes
*
* Sequence 5: Same as auto 4, but navigate around bins (not implemented)
*
* Sequence 6: Collect 1 bin and 1 tote (not implemented)
*
* Sequence 7: Same as auto 4, then collect bin, drive to auto zone, release totes (not implemented)
*
* Sequence 8: Use rear elevator to move tote
*
* Sequence 9: Use rear elevator to move bin
*/
class Autonomous: public CommandGroup{
public:
/**
* @brief Constructs Autonomous
*
* @param seq The sequence to run
* @param seq The sequence to run (default: 0)
*/
Autonomous(int seq=0);
Autonomous(int seq = 0);
};
#endif
// vim: ts=2:sw=2:et

1
Commands/Autonomous/Turn.h
View File

@ -12,7 +12,6 @@
* Turns the robot until a timeout is reached
*/
class Turn: public Command{
private:
public:
/**
* @brief Constructs Turn

5
Commands/BinElevator/BinCloseArms.h
View File

@ -5,7 +5,7 @@
#include "WPILib.h"
/**
* @brief Closes BinElevatorArms (NOT USED)
* @brief Closes BinElevatorArms (unused)
*
* Sets the solenoid to close the arms of the BinElevator
*/
@ -14,7 +14,7 @@ class BinCloseArms: public Command{
/**
* @brief Constructs BinCloseArms
*
* @param timeout The timeout
* @param timeout Timeout in seconds (default: 0.5)
*/
BinCloseArms(double timeout = 0.5);
/**
@ -40,6 +40,5 @@ class BinCloseArms: public Command{
*/
void Interrupted();
};
#endif
// vim: ts=2:sw=2:et

3
Commands/BinElevator/BinLower.h
View File

@ -8,12 +8,11 @@
* @brief Lowers the bin elevator until a timeout is reached
*/
class BinLower: public Command{
private:
public:
/**
* @brief Constructs BinLower
*
* @param timeout The timeout
* @param timeout Timeout in seconds
*/
BinLower(float timeout);
/**

2
Commands/BinElevator/BinOpenArms.h
View File

@ -12,7 +12,7 @@ class BinOpenArms: public Command{
/**
* @brief Constructs BinOpenArms
*
* @param timeout The timeout
* @param timeout Timeout in seconds
*/
BinOpenArms(double timeout);
/**

6
Commands/Collector/RollIn.cpp
View File

@ -1,14 +1,14 @@
#include "RollIn.h"
RollIn::RollIn(double speed): Command("RollIn"){
rawSpeed=speed;
rawSpeed = speed;
}
void RollIn::Initialize(){
printf("Initialized RollIn\n");
SetTimeout(2.0);
}
void RollIn::Execute(){
//double cvt=(rawSpeed)*DentRobot::collector->GetSonarDistance()/0.4;
//if(cvt<=1.0){
//double cvt = (rawSpeed)*DentRobot::collector->GetSonarDistance()/0.4;
//if(cvt <= 1.0){
// DentRobot::collector->MoveRollers(1.0);
//}else{
// DentRobot::collector->MoveRollers(cvt*1.5);

4
Commands/Collector/RollOut.h
View File

@ -14,9 +14,9 @@ class RollOut: public Command{
/**
* @brief Constructs RollOut
*
* @param timeout The timeout
* @param timeout Timeout in seconds (default: 2.0)
*/
RollOut(double timeout=2.0);
RollOut(double timeout = 2.0);
/**
* @brief Initializes the class
*/

2
Commands/Collector/RollVar.cpp
View File

@ -1,6 +1,6 @@
#include "RollVar.h"
RollVar::RollVar(double speedVal): Command("RollVar"){
speed=speedVal;
speed = speedVal;
}
void RollVar::Initialize(){
printf("Initialized RollVar\n");

2
Commands/Collector/RollVar.h
View File

@ -11,7 +11,7 @@
*/
class RollVar: public Command{
private:
double speed; //<! Speed control of the collector
double speed; //<! Speed multiplier of the collector
public:
/**
* @brief Constructs RollVar

4
Commands/Drivetrain/Drive.cpp
View File

@ -12,10 +12,10 @@ void Drive::Execute(){
z = DentRobot::oi->GetLeftAxis("right", "x");
// Lock the x axis when not holding button 1
//if(DentRobot::oi->GetLeftStick()->GetRawButton(1)){
// x=0;
// x = 0;
//}
//if(DentRobot::oi->GetLeftStick()->GetRawButton(2)){
// y=0;
// y = 0;
//}
//X axis, Y axis, Z axis, sensitivity, speed threshold (usually throttle)
if(DentRobot::oi->GetLeftButton("y")){

1
Commands/Drivetrain/Drive.h
View File

@ -3,7 +3,6 @@
#include "Commands/Command.h"
#include "../../DentRobot.h"
#include "../../DentRobot.h"
#include "WPILib.h"
/**

4
Commands/Elevator/Lower.h
View File

@ -11,8 +11,10 @@ class Lower: public Command{
public:
/**
* @brief Constructs Lower
*
* @param timeout Timeout in seconds (default: 3.0)
*/
Lower(double timeout=3.0);
Lower(double timeout = 3.0);
/**
* @brief Initializes the class
*/

4
Commands/Elevator/Raise.cpp
View File

@ -11,11 +11,11 @@ void Raise::Execute(){
}
bool Raise::IsFinished(){
//if(!DentRobot::elevator->GetElevatorMiddle()){
// DentRobot::elevator->stoppedAtSensor=true;
// DentRobot::elevator->stoppedAtSensor = true;
//}
//if((DentRobot::elevator->stoppedAtSensor)){
// printf("Stopped at the middle sensor\n");
// DentRobot::elevator->stoppedAtSensor=false;
// DentRobot::elevator->stoppedAtSensor = false;
// return true;
//}else if(!DentRobot::elevator->GetElevatorTop()){
if(!DentRobot::elevator->GetElevatorTop()||!DentRobot::elevator->GetElevatorMiddle()||IsTimedOut()){

4
Commands/Elevator/Raise.h
View File

@ -11,8 +11,10 @@ class Raise: public Command{
public:
/**
* @brief Constructs Raise
*
* @param timeout Timeout in seconds (default: 3.5)
*/
Raise(double timeout=3.5);
Raise(double timeout = 3.5);
/**
* @brief Initializes the class
*/

31
DentRobot.cpp
View File

@ -2,20 +2,20 @@
#include "OI.h"
#include "RobotMap.h"
#include "Commands/Autonomous/Autonomous.h"
OI* DentRobot::oi=NULL;
Collector* DentRobot::collector=NULL;
Drivetrain* DentRobot::drivetrain=NULL;
Elevator* DentRobot::elevator=NULL;
BinElevator* DentRobot::binElevator=NULL;
CommandGroup* DentRobot::aut=NULL;
Pneumatics* DentRobot::pneumatics=NULL;
OI* DentRobot::oi = NULL;
Collector* DentRobot::collector = NULL;
Drivetrain* DentRobot::drivetrain = NULL;
Elevator* DentRobot::elevator = NULL;
BinElevator* DentRobot::binElevator = NULL;
CommandGroup* DentRobot::aut = NULL;
Pneumatics* DentRobot::pneumatics = NULL;
DentRobot::DentRobot(){
oi=new OI();
collector=new Collector();
drivetrain=new Drivetrain();
elevator=new Elevator();
binElevator=new BinElevator();
pneumatics=new Pneumatics();
oi = new OI();
collector = new Collector();
drivetrain = new Drivetrain();
elevator = new Elevator();
binElevator = new BinElevator();
pneumatics = new Pneumatics();
//CameraServer::GetInstance()->SetQuality(25);
//CameraServer::GetInstance()->StartAutomaticCapture("cam0");
printf("The robot is on\n");
@ -55,7 +55,7 @@ void DentRobot::DisabledPeriodic(){
Scheduler::GetInstance()->Run();
}
void DentRobot::AutonomousInit(){
aut=new Autonomous(SmartDashboard::GetNumber("Auto Sequence"));
aut = new Autonomous(SmartDashboard::GetNumber("Auto Sequence"));
printf("Enabling Auto Sequence %f\n", SmartDashboard::GetNumber("Auto Sequence"));
if(aut != NULL){
aut->Start();
@ -72,8 +72,7 @@ void DentRobot::TeleopInit(){
}
void DentRobot::TeleopPeriodic(){
Scheduler::GetInstance()->Run();
//TODO: Calibrate 1.0 to the height we want the elevator to automatically raise
if(elevator->GetUseEncoder()&&elevator->GetHeight()<=-1.0){
if(elevator->GetUseEncoder()&&elevator->GetHeight() <= -1.0){
// Raise the elevator if it dips below elevatorTop
oi->raise->Start();
}

105
OI.cpp
View File

@ -12,91 +12,42 @@
#include "Commands/Autonomous/ReleaseTote.h"
OI::OI(){
// Joysticks
leftController=new Joystick(0);
rightController=new Joystick(1);
leftStick = new Joystick(0);
rightStick = new Joystick(1);
// Collector
JoystickButton *left10=new JoystickButton(leftController, 10);
JoystickButton *left12=new JoystickButton(leftController, 12);
JoystickButton *left9=new JoystickButton(leftController, 9);
left10->WhileHeld(new RollIn(GetLeftThrottle()));
left12->WhileHeld(new RollOut(2.0));
JoystickButton *left1 = new JoystickButton(leftStick, 1);
JoystickButton *left2 = new JoystickButton(leftStick, 2);
JoystickButton *left7 = new JoystickButton(leftStick, 7);
left1->WhileHeld(new RollIn(GetLeftThrottle()));
left2->WhileHeld(new RollOut(2.0));
// 0.8 is the multiplier, so they roll at 80% power
left9->WhileHeld(new RollVar(0.8));
// Elevator
raise=new Raise(3.5);
lower=new Lower(3.0);
JoystickButton *right9=new JoystickButton(rghtController, 9);
JoystickButton *right11=new JoystickButton(rghtController, 11);
right9->WhenPressed(lower);
right9->CancelWhenPressed(raise);
right11->WhenPressed(raise);
right11->CancelWhenPressed(lower);
raise = new Raise(3.5);
lower = new Lower(3.0);
JoystickButton *right4 = new JoystickButton(rightStick, 4);
JoystickButton *right6 = new JoystickButton(rightStick, 6);
right4->WhenPressed(lower);
right4->CancelWhenPressed(raise);
right6->WhenPressed(raise);
right6->CancelWhenPressed(lower);
// BinElevator
JoystickButton *right10=new JoystickButton(rghtController, 10);
JoystickButton *right12=new JoystickButton(rghtController, 12);
//JoystickButton *right7=new JoystickButton(rghtController, 7);
//JoystickButton *right8=new JoystickButton(rghtController, 8);
JoystickButton *right3 = new JoystickButton(rightStick, 3);
JoystickButton *right5 = new JoystickButton(rightStick, 5);
//JoystickButton *right7 = new JoystickButton(rightStick, 7);
//JoystickButton *right8 = new JoystickButton(rightStick, 8);
//right7->WhenPressed(new BinOpenArms());
//right8->WhenPressed(new BinCloseArms());
binRaise=new BinRaise(3.0);
binLower=new BinLower(2.0);
right10->WhileHeld(binLower);
right10->CancelWhenPressed(binRaise);
right12->WhileHeld(binRaise);
right12->CancelWhenPressed(binLower);
binRaise = new BinRaise(3.0);
binLower = new BinLower(2.0);
right3->WhileHeld(binLower);
right3->CancelWhenPressed(binRaise);
right5->WhileHeld(binRaise);
right5->CancelWhenPressed(binLower);
// Cancel
JoystickButton *right16=new JoystickButton(rghtController, 16);
right16->CancelWhenPressed(raise);
right16->CancelWhenPressed(lower);
}
float OI::GetLeftAxis(std::string stick, std::string axis){
if(stick=="left"){
if(axis=="x"){
return leftController->GetRawAxis(0);
}else if(axis=="y"){
return -leftController->GetRawAxis(1);
}else if(axis=="trigger"){
//TODO: Figure out what axis this is
return leftController->GetRawAxis(4);
return -4;
}
}else if(stick=="right"){
if(axis=="x"){
return leftController->GetRawAxis(2);
}else if(axis=="y"){
return -leftController->GetRawAxis(3);
}else if(axis=="trigger"){
//TODO: Figure out what axis this is
return leftController->GetRawAxis(5);
return -4;
}
}
//TODO: Fix this placeholder for NULL
return -5;
}
bool OI::GetLeftButton(std::string button){
if(button=="a"){
return leftA->Get();
}else if(button=="b"){
return leftB->Get();
}else if(button=="x"){
return leftX->Get();
}else if(button=="y"){
return leftY->Get();
}else if(button=="lb"){
return leftLB->Get();
}else if(button=="rb"){
return leftRB->Get();
}else if(button=="back"){
return leftBack->Get();
}else if(button=="start"){
return leftStart->Get();
}else if(button=="lpress"){
return leftLPress->Get();
}else if(button=="rpress"){
return leftRPress->Get();
}
return false;
JoystickButton *right12 = new JoystickButton(rightStick, 12);
right12->CancelWhenPressed(raise);
right12->CancelWhenPressed(lower);
}
Joystick* OI::GetRightStick(){
return rghtController;

11
OI.h
View File

@ -9,16 +9,17 @@
*/
class OI{
private:
Joystick *leftController, *rightController;
Joystick *leftStick, //<! Left joystick
*rightStick; //<! Right joystick
public:
/**
* @brief Constructs OI
*/
OI();
Command *raise, //!< Raise command
*lower, //!< Lower command
*binLower, //!< BinLower command
*binRaise; //!< BinRaise command
Command *raise, //<! Raise command
*lower, //<! Lower command
*binLower, //<! BinLower command
*binRaise; //<! BinRaise command
/**
* @brief Gets the value of a throttle on the left controller
*

8
Subsystems/BinElevator.cpp
View File

@ -1,10 +1,10 @@
#include "BinElevator.h"
#include "../RobotMap.h"
BinElevator::BinElevator(){
motor=new CANTalon(BINELEVATOR_CAN);
elevatorEncoder=new Encoder(BINELEVATOR_ENCODERA, BINELEVATOR_ENCODERB, false);
elevatorBottom=new DigitalInput(BINELEVATOR_BOTTOM_DIO);
elevatorTop=new DigitalInput(BINELEVATOR_TOP_DIO);
motor = new CANTalon(BINELEVATOR_CAN);
elevatorEncoder = new Encoder(BINELEVATOR_ENCODERA, BINELEVATOR_ENCODERB, false);
elevatorBottom = new DigitalInput(BINELEVATOR_BOTTOM_DIO);
elevatorTop = new DigitalInput(BINELEVATOR_TOP_DIO);
}
void BinElevator::InitDefaultCommand(){
}

4
Subsystems/BinElevator.h
View File

@ -24,9 +24,7 @@ class BinElevator{
/**
* @brief Runs the bin elevator
*
* @param power The power to run the bin elevator
*
* Ranges from -1.0 to 1.0
* @param power The power to run the bin elevator (-1.0 to 1.0)
*/
void Run(double power);
/**

10
Subsystems/Collector.cpp
View File

@ -2,11 +2,11 @@
#include "../RobotMap.h"
Collector::Collector(): Subsystem("Collector"){
collectorMotorLeft=new CANTalon(COLLECTOR_LEFT_CAN);
collectorMotorBottom=new CANTalon(COLLECTOR_BOTTOM_CAN);
collectorMotorRamp=new CANTalon(COLLECTOR_RAMP_CAN);
collectorMotorRight=new CANTalon(COLLECTOR_RIGHT_CAN);
sonarAnalog=new AnalogInput(COLLECTOR_SONAR_ANALOG);
collectorMotorLeft = new CANTalon(COLLECTOR_LEFT_CAN);
collectorMotorBottom = new CANTalon(COLLECTOR_BOTTOM_CAN);
collectorMotorRamp = new CANTalon(COLLECTOR_RAMP_CAN);
collectorMotorRight = new CANTalon(COLLECTOR_RIGHT_CAN);
sonarAnalog = new AnalogInput(COLLECTOR_SONAR_ANALOG);
}
void Collector::InitDefaultCommand(){
}

8
Subsystems/Collector.h
View File

@ -33,25 +33,25 @@ class Collector: public Subsystem{
/**
* @brief Moves the collectors
*
* @param power The speed to run the collectors
* @param power The power to run the collectors
*/
void MoveRollers(double power);
/**
* @brief Moves the left roller
*
* @param power The speed to run the left roller
* @param power The power to run the left roller
*/
void MoveLeftRoller(double power);
/**
* @brief Moves the right roller
*
* @param power The speed to run the right roller
* @param power The power to run the right roller
*/
void MoveRightRoller(double power);
/**
* @brief Moves the bottom rollers
*
* @param power The speed to run the bottom rollers
* @param power The power to run the bottom rollers
*/
void MoveBottomRollers(double power);
/**

3
Subsystems/Drivetrain.cpp
View File

@ -13,8 +13,7 @@ void Drivetrain::InitDefaultCommand(){
SetDefaultCommand(new Drive());
}
void Drivetrain::DriveMecanum(double x, double y, double z, double sensitivity, bool driveStraight){
//TODO: Find the correct value for kP
double kP=SmartDashboard::GetNumber("Gyro kP");
double kP = SmartDashboard::GetNumber("Gyro kP");
double correctX = -(sensitivity*(pow(x, 3))+(1-sensitivity)*x);
double correctY = -(sensitivity*(pow(y, 3))+(1-sensitivity)*y);
double correctZ;

4
Subsystems/Drivetrain.h
View File

@ -39,9 +39,9 @@ class Drivetrain: public Subsystem{
* @param y Joystick y value (-1.0 to 1.0)
* @param z Joystick z value (-1.0 to 1.0)
* @param sensitivity Sensitivity (0.0 to 1.0)
* @param driveStraight Overrides z value to correct for motor lag
* @param driveStraight Overrides z value to correct for motor lag (default: false)
*/
void DriveMecanum(double x, double y, double z, double sensitivity, bool driveStraight=false);
void DriveMecanum(double x, double y, double z, double sensitivity, bool driveStraight = false);
/**
* @brief Tests one motor
*

14
Subsystems/Elevator.cpp
View File

@ -1,13 +1,13 @@
#include "Elevator.h"
#include "../RobotMap.h"
Elevator::Elevator(){
motor=new CANTalon(ELEVATOR_CAN);
elevatorEncoder=new Encoder(ELEVATOR_ENCODERA, ELEVATOR_ENCODERB, false);
elevatorBottom=new DigitalInput(ELEVATOR_BOTTOM_DIO);
elevatorMiddle=new DigitalInput(ELEVATOR_MIDDLE_DIO);
elevatorTop=new DigitalInput(ELEVATOR_TOP_DIO);
motor = new CANTalon(ELEVATOR_CAN);
elevatorEncoder = new Encoder(ELEVATOR_ENCODERA, ELEVATOR_ENCODERB, false);
elevatorBottom = new DigitalInput(ELEVATOR_BOTTOM_DIO);
elevatorMiddle = new DigitalInput(ELEVATOR_MIDDLE_DIO);
elevatorTop = new DigitalInput(ELEVATOR_TOP_DIO);
// Checks if the elevator is drifting
useEncoder=false;
useEncoder = false;
}
void Elevator::InitDefaultCommand(){
}
@ -36,7 +36,7 @@ bool Elevator::GetElevatorTop(){
return elevatorTop->Get();
}
void Elevator::SetUseEncoder(bool use){
useEncoder=use;
useEncoder = use;
}
bool Elevator::GetUseEncoder(){
return useEncoder;

2
mainpage.dox
View File

@ -24,8 +24,6 @@
* -# @ref Autonomous
* -# @ref CollectTote
* -# @ref ReleaseTote
* -# @ref CheckDrive
* -# @ref CheckRobot
*
* Note: Recycling containers are referred to bins throughout the project
*/