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Added more autonomous modes (untested). Changed default autonomous timeout to 0.0s from 3.0s

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This commit is contained in:
Austen Adler 2015-03-05 20:07:52 -05:00
parent 63e9adce86
commit 136a28994e
2 changed files with 36 additions and 13 deletions
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43
Commands/Autonomous/Autonomous.cpp
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@ -24,7 +24,16 @@ Autonomous::Autonomous(int seq){
AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Zone Distance"), 0.0, -0.8)); AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Zone Distance"), 0.0, -0.8));
break; break;
case 2: case 2:
// Collect a tote, turn, drive to Auto Zone (TM) // Lower BinElevator, collect bin, turn, drive to AutoZone (TM)
AddSequential(new BinLower(0.5));
AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Bin Distance"), 0, 0.75));
AddSequential(new BinRaise(1.0));
AddSequential(new Turn(SmartDashboard::GetNumber("TurnAmount")));
AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Zone Distance"), 0.0, -0.75));
AddSequential(new Turn(SmartDashboard::GetNumber("TurnAmount")));
break;
case 3:
// Collect a tote with BinElevator, turn, drive to Auto Zone (TM)
Wait(SmartDashboard::GetNumber("Auto Wait Time")); Wait(SmartDashboard::GetNumber("Auto Wait Time"));
AddSequential(new Turn(SmartDashboard::GetNumber("TurnAmount"))); AddSequential(new Turn(SmartDashboard::GetNumber("TurnAmount")));
AddSequential(new BinRaise(1.2)); AddSequential(new BinRaise(1.2));
@ -32,29 +41,41 @@ Autonomous::Autonomous(int seq){
AddSequential(new BinLower(1.0)); AddSequential(new BinLower(1.0));
AddSequential(new Turn(SmartDashboard::GetNumber("TurnAmount"))); AddSequential(new Turn(SmartDashboard::GetNumber("TurnAmount")));
break; break;
case 3: case 4:
// Collect three totes, drive to Auto Zone (TM) // Collect one, two, or three totes, drive to Auto Zone (TM)
printf("Waiting: %f\n", SmartDashboard::GetNumber("Auto Wait Time")); printf("Waiting: %f\n", SmartDashboard::GetNumber("Auto Wait Time"));
Wait(SmartDashboard::GetNumber("Auto Wait Time")); Wait(SmartDashboard::GetNumber("Auto Wait Time"));
printf("Done"); printf("Done");
AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Tote Distance"), 0, 0.75));
AddSequential(new CollectTote()); AddSequential(new CollectTote());
AddSequential(new Raise()); if(SmartDashboard::GetBoolean("Two totes")){
AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Tote Distance"), 0, 0.75)); AddSequential(new Raise());
AddSequential(new CollectTote());
AddSequential(new Lower());
AddSequential(new Raise());
printf("Three totes?: %d\n", SmartDashboard::GetBoolean("Three totes"));
if(SmartDashboard::GetBoolean("Three totes")){
AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Tote Distance"), 0, 0.75)); AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Tote Distance"), 0, 0.75));
AddSequential(new CollectTote()); AddSequential(new CollectTote());
AddSequential(new Lower()); AddSequential(new Lower());
AddSequential(new Raise()); AddSequential(new Raise());
if(SmartDashboard::GetBoolean("Three totes")){
AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Tote Distance"), 0, 0.75));
AddSequential(new CollectTote());
AddSequential(new Lower());
AddSequential(new Raise());
}
} }
AddSequential(new Turn(SmartDashboard::GetNumber("TurnAmount"))); AddSequential(new Turn(SmartDashboard::GetNumber("TurnAmount")));
AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Zone Distance"), 0, 0.75)); AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Zone Distance"), 0, 0.75));
AddSequential(new ReleaseTote()); AddSequential(new ReleaseTote());
break; break;
case 5:
// Same as auto 4, but navigate around bins
//TODO: Implement this
break;
case 6:
// Collect 1 bin and 1 tote
//TODO: Implement this
break;
case 7:
// Same as auto 4 with (Three|Two) totes checked, collect bin, drive to Auto Zone (TM)
//TODO: Implement this
break;
default: default:
printf("Invalid seq: %d\n", seq); printf("Invalid seq: %d\n", seq);
break; break;

6
DentRobot.cpp
View File

@ -25,14 +25,16 @@ void DentRobot::RobotInit(){
// Autonomous // Autonomous
// Sequence of autonomous command // Sequence of autonomous command
SmartDashboard::PutNumber("Auto Sequence", 2.0); SmartDashboard::PutNumber("Auto Sequence", 2.0);
SmartDashboard::PutNumber("Auto Wait Time", 3.0); SmartDashboard::PutNumber("Auto Wait Time", 0.0);
// If the robot will be picking up three totes in sequence 3 // If the robot will be picking up three totes in sequence 3
SmartDashboard::PutBoolean("Three totes", true); SmartDashboard::PutBoolean("Two totes", true);
SmartDashboard::PutBoolean("Three totes", false);
// TODO: Calibrate the following two values // TODO: Calibrate the following two values
// Distance (in time) to auto zone // Distance (in time) to auto zone
SmartDashboard::PutNumber("Auto Zone Distance", 2.8); SmartDashboard::PutNumber("Auto Zone Distance", 2.8);
// Distance (in time) to auto tote (used in sequence 3) // Distance (in time) to auto tote (used in sequence 3)
SmartDashboard::PutNumber("Auto Tote Distance", 0.5); SmartDashboard::PutNumber("Auto Tote Distance", 0.5);
SmartDashboard::PutNumber("Auto Bin Distance", 0.25);
SmartDashboard::PutNumber("TurnAmount", 2.0); SmartDashboard::PutNumber("TurnAmount", 2.0);
// Elevators // Elevators