From 1494fdceba7ffe00f03e5e28ea43f61a398ba24d Mon Sep 17 00:00:00 2001 From: Austen Adler Date: Fri, 27 Feb 2015 15:44:18 -0500 Subject: [PATCH] Formatted commas, swapped AutoDrive x and y (untested) --- Commands/Autonomous/AutoDrive.cpp | 10 +++++----- Commands/Autonomous/AutoDrive.h | 4 ++-- Commands/Autonomous/Autonomous.cpp | 24 ++++++++++++------------ Commands/Autonomous/CollectTote.cpp | 2 +- Commands/Autonomous/ReleaseTote.cpp | 2 +- Commands/Autonomous/Turn.cpp | 4 ++-- Commands/Collector/RollOut.cpp | 2 +- Commands/Drivetrain/Drive.cpp | 6 +++--- Commands/Test/CheckDrive.cpp | 8 ++++---- DentRobot.cpp | 10 +++++----- Subsystems/BinElevator.cpp | 2 +- Subsystems/Collector.cpp | 2 +- Subsystems/Drivetrain.cpp | 6 +++--- Subsystems/Drivetrain.h | 4 ++-- Subsystems/Elevator.cpp | 2 +- 15 files changed, 44 insertions(+), 44 deletions(-) diff --git a/Commands/Autonomous/AutoDrive.cpp b/Commands/Autonomous/AutoDrive.cpp index 937ede2..ba14f03 100644 --- a/Commands/Autonomous/AutoDrive.cpp +++ b/Commands/Autonomous/AutoDrive.cpp @@ -1,23 +1,23 @@ #include "AutoDrive.h" #include "../../DentRobot.h" // Drive for a short while then stop. Just for testing -AutoDrive::AutoDrive(double duration, double xtmp=-0.75, double ytmp=0) : Command("AutoDrive"){ +AutoDrive::AutoDrive(double duration, double xtmp=0, double ytmp=-0.75) : Command("AutoDrive"){ Requires(DentRobot::drivetrain); SetTimeout(duration); - speed=xtmp; - strafe=ytmp; + x=xtmp; + y=ytmp; } void AutoDrive::Initialize(){ } void AutoDrive::Execute(){ //X axis, Y axis, Z axis, sensitivity, speed threshold (usually throttle), gyro - DentRobot::drivetrain->DriveMecanum(strafe,speed,0.0,0.9,0.0); + DentRobot::drivetrain->DriveMecanum(x, y, 0.0, 0.9, 0.0); } bool AutoDrive::IsFinished(){ return IsTimedOut(); } void AutoDrive::End(){ - DentRobot::drivetrain->DriveMecanum(0.0,0.0,0.0,0.9,0.0); + DentRobot::drivetrain->DriveMecanum(0.0, 0.0, 0.0, 0.9, 0.0); } void AutoDrive::Interrupted(){ End(); diff --git a/Commands/Autonomous/AutoDrive.h b/Commands/Autonomous/AutoDrive.h index 03ce3b1..6fa66ef 100644 --- a/Commands/Autonomous/AutoDrive.h +++ b/Commands/Autonomous/AutoDrive.h @@ -8,10 +8,10 @@ class AutoDrive: public Command{ private: - double speed, strafe; + double x, y; public: AutoDrive(double); - AutoDrive(double, double,double); + AutoDrive(double, double, double); void Initialize(); void Execute(); bool IsFinished(); diff --git a/Commands/Autonomous/Autonomous.cpp b/Commands/Autonomous/Autonomous.cpp index b076a0b..99ea7bf 100644 --- a/Commands/Autonomous/Autonomous.cpp +++ b/Commands/Autonomous/Autonomous.cpp @@ -15,44 +15,44 @@ Autonomous::Autonomous(int seq){ switch(seq){ case 0: // Just for testing - AddSequential(new AutoDrive(.5,0,.25)); + // Strafe at .25 power + AddSequential(new AutoDrive(0.5, 0.25, 0.0)); break; case 1: - // Wait a desigated value, drive to Auto Zone (TM) + // Drive to Auto Zone (TM) Wait(SmartDashboard::GetNumber("Auto Wait Time")); - AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Zone Distance"), 0.8,0.0)); + AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Zone Distance"), 0.0, 0.8)); break; case 2: - // Wait a desigated value, drive to Auto Zone (TM) + // Collect a tote, turn, drive to Auto Zone (TM) Wait(SmartDashboard::GetNumber("Auto Wait Time")); AddSequential(new Turn(SmartDashboard::GetNumber("TurnAmount"))); AddSequential(new BinRaise(1.2)); - AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Zone Distance"),0.75,0.0)); - //AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Zone Distance"), 0.0,-1.0)); + AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Zone Distance"), 0.0, 0.75)); AddSequential(new BinLower(1.0)); AddSequential(new Turn(SmartDashboard::GetNumber("TurnAmount"))); break; case 3: // Collect 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")); printf("Done"); - AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Tote Distance"), -0.75,0)); + AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Tote Distance"), 0, -0.75)); AddSequential(new CollectTote()); AddSequential(new Raise()); - AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Tote Distance"), -0.75,0)); + AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Tote Distance"), 0, -0.75)); AddSequential(new CollectTote()); AddSequential(new Lower()); AddSequential(new Raise()); - printf("Three totes?: %d\n",SmartDashboard::GetBoolean("Three totes")); + printf("Three totes?: %d\n", SmartDashboard::GetBoolean("Three totes")); if(SmartDashboard::GetBoolean("Three totes")){ - AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Tote Distance"), -0.75,0)); + AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Tote Distance"), 0, -0.75)); AddSequential(new CollectTote()); AddSequential(new Lower()); AddSequential(new Raise()); } AddSequential(new Turn(90)); - AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Zone Distance"), -0.75,0)); + AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Zone Distance"), 0, -0.75)); AddSequential(new ReleaseTote()); break; default: diff --git a/Commands/Autonomous/CollectTote.cpp b/Commands/Autonomous/CollectTote.cpp index 7f89be3..5ee7deb 100644 --- a/Commands/Autonomous/CollectTote.cpp +++ b/Commands/Autonomous/CollectTote.cpp @@ -3,7 +3,7 @@ #include "AutoDrive.h" #include "../Collector/RollIn.h" CollectTote::CollectTote(){ - AddParallel(new AutoDrive(1.0, -0.75,0)); + AddParallel(new AutoDrive(1.0, -0.75, 0.0)); AddSequential(new RollIn(1.0)); } // vim: ts=2:sw=2:et diff --git a/Commands/Autonomous/ReleaseTote.cpp b/Commands/Autonomous/ReleaseTote.cpp index 846985d..8d01114 100644 --- a/Commands/Autonomous/ReleaseTote.cpp +++ b/Commands/Autonomous/ReleaseTote.cpp @@ -4,6 +4,6 @@ #include "../Collector/RollOut.h" ReleaseTote::ReleaseTote(){ AddParallel(new RollOut()); - AddParallel(new AutoDrive(0.5, 0.75,0)); + AddParallel(new AutoDrive(0.5, 0, 0.75)); } // vim: ts=2:sw=2:et diff --git a/Commands/Autonomous/Turn.cpp b/Commands/Autonomous/Turn.cpp index 8af955b..11a51d9 100644 --- a/Commands/Autonomous/Turn.cpp +++ b/Commands/Autonomous/Turn.cpp @@ -9,14 +9,14 @@ void Turn::Initialize(){ } void Turn::Execute(){ //X axis, Y axis, Z axis, sensitivity, speed threshold (usually throttle), gyro - DentRobot::drivetrain->DriveMecanum(0.0,0.0,0.6,0.9,0.0); + DentRobot::drivetrain->DriveMecanum(0.0, 0.0, 0.6, 0.9, 0.0); } bool Turn::IsFinished(){ return IsTimedOut(); } void Turn::End(){ // Stop driving - DentRobot::drivetrain->DriveMecanum(0.0,0.0,0.0,0.9,0.0); + DentRobot::drivetrain->DriveMecanum(0.0, 0.0, 0.0, 0.9, 0.0); } void Turn::Interrupted(){ End(); diff --git a/Commands/Collector/RollOut.cpp b/Commands/Collector/RollOut.cpp index 7e06aab..d3f5150 100644 --- a/Commands/Collector/RollOut.cpp +++ b/Commands/Collector/RollOut.cpp @@ -8,7 +8,7 @@ void RollOut::Initialize(){ void RollOut::Execute(){ //TODO check this value to move the motors in the right direction // Devide by 2 twice because this speed should be half the collector speed - DentRobot::collector->MoveRollers(-DentRobot::oi->GetLeftThrottle()*.8); + DentRobot::collector->MoveRollers(-DentRobot::oi->GetLeftThrottle() * 0.8); } bool RollOut::IsFinished(){ return IsTimedOut(); diff --git a/Commands/Drivetrain/Drive.cpp b/Commands/Drivetrain/Drive.cpp index a8c1241..4b79176 100644 --- a/Commands/Drivetrain/Drive.cpp +++ b/Commands/Drivetrain/Drive.cpp @@ -6,11 +6,11 @@ Drive::Drive() : Command("Drive"){ void Drive::Initialize(){ } void Drive::Execute(){ - double x,y,z; - //Code to lock the x axis when not holding button 1 + double x, y, z; x = DentRobot::oi->GetLeftStick()->GetRawAxis(0); z = DentRobot::oi->GetLeftStick()->GetRawAxis(2); y = DentRobot::oi->GetLeftStick()->GetRawAxis(1); + //Code to lock the x axis when not holding button 1 //if (DentRobot::oi->GetLeftStick()->GetRawButton(1)){ // x=0; //} @@ -18,7 +18,7 @@ void Drive::Execute(){ // y=0; //} //X axis, Y axis, Z axis, sensitivity, speed threshold (usually throttle), gyro - DentRobot::drivetrain->DriveMecanum(x,y,z,0.9,0); + DentRobot::drivetrain->DriveMecanum(x, y, z, 0.9, 0.0); } bool Drive::IsFinished(){ return IsTimedOut(); diff --git a/Commands/Test/CheckDrive.cpp b/Commands/Test/CheckDrive.cpp index d51d658..8ce3b65 100644 --- a/Commands/Test/CheckDrive.cpp +++ b/Commands/Test/CheckDrive.cpp @@ -13,16 +13,16 @@ void CheckDrive::Initialize(){ void CheckDrive::Execute(){ switch(motor){ case DRIVE_FRONT_LEFT_CAN: - DentRobot::drivetrain->TestMotor(DentRobot::drivetrain->FRONTLEFT,1); + DentRobot::drivetrain->TestMotor(DentRobot::drivetrain->FRONTLEFT, 1); break; case DRIVE_FRONT_RIGHT_CAN: - DentRobot::drivetrain->TestMotor(DentRobot::drivetrain->FRONTRIGHT,1); + DentRobot::drivetrain->TestMotor(DentRobot::drivetrain->FRONTRIGHT, 1); break; case DRIVE_BACK_LEFT_CAN: - DentRobot::drivetrain->TestMotor(DentRobot::drivetrain->BACKLEFT,1); + DentRobot::drivetrain->TestMotor(DentRobot::drivetrain->BACKLEFT, 1); break; case DRIVE_BACK_RIGHT_CAN: - DentRobot::drivetrain->TestMotor(DentRobot::drivetrain->BACKRIGHT,1); + DentRobot::drivetrain->TestMotor(DentRobot::drivetrain->BACKRIGHT, 1); break; default: break; diff --git a/DentRobot.cpp b/DentRobot.cpp index e7d15bc..5818977 100644 --- a/DentRobot.cpp +++ b/DentRobot.cpp @@ -23,11 +23,11 @@ DentRobot::DentRobot(){ printf("The robot is on\n"); } void DentRobot::RobotInit(){ - SmartDashboard::PutNumber("CodeVersion",CODE_VERSION); + SmartDashboard::PutNumber("CodeVersion", CODE_VERSION); // Autonomous // Sequence of autonomous command - SmartDashboard::PutNumber("Auto Sequence",2.0); - SmartDashboard::PutNumber("Auto Wait Time",3.0); + SmartDashboard::PutNumber("Auto Sequence", 2.0); + SmartDashboard::PutNumber("Auto Wait Time", 3.0); // If the robot will be picking up three totes in sequence 3 SmartDashboard::PutBoolean("Three totes", true); // TODO: Calibrate the following two values @@ -35,7 +35,7 @@ void DentRobot::RobotInit(){ SmartDashboard::PutNumber("Auto Zone Distance", 2.8); // Distance (in time) to auto tote (used in sequence 3) SmartDashboard::PutNumber("Auto Tote Distance", 0.5); - SmartDashboard::PutNumber("TurnAmount",2); + SmartDashboard::PutNumber("TurnAmount", 2); // Elevators SmartDashboard::PutBoolean("Bin Elevator Bottom", false); @@ -48,7 +48,7 @@ void DentRobot::DisabledPeriodic(){ } void DentRobot::AutonomousInit(){ aut=new Autonomous(SmartDashboard::GetNumber("Auto Sequence")); - printf("Enabling Auto Sequence %f\n",SmartDashboard::GetNumber("Auto Sequence")); + printf("Enabling Auto Sequence %f\n", SmartDashboard::GetNumber("Auto Sequence")); if(aut != NULL){ aut->Start(); } diff --git a/Subsystems/BinElevator.cpp b/Subsystems/BinElevator.cpp index 22f3c74..ffc79ee 100644 --- a/Subsystems/BinElevator.cpp +++ b/Subsystems/BinElevator.cpp @@ -2,7 +2,7 @@ #include "../RobotMap.h" BinElevator::BinElevator(){ motor=new CANTalon(BINELEVATOR_CAN); - elevatorEncoder=new Encoder(BINELEVATOR_ENCODERA,BINELEVATOR_ENCODERB,false); + elevatorEncoder=new Encoder(BINELEVATOR_ENCODERA, BINELEVATOR_ENCODERB, false); elevatorBottom=new DigitalInput(BINELEVATOR_BOTTOM_DIO); elevatorTop=new DigitalInput(BINELEVATOR_TOP_DIO); } diff --git a/Subsystems/Collector.cpp b/Subsystems/Collector.cpp index f9b1f17..7e5296a 100644 --- a/Subsystems/Collector.cpp +++ b/Subsystems/Collector.cpp @@ -15,7 +15,7 @@ void Collector::MoveRollers(double a){ collectorMotorBottom->Set(-a); collectorMotorRamp->Set(a); collectorMotorRight->Set(-a); - printf("Roller power: %f\n",a); + printf("Roller power: %f\n", a); } double Collector::GetSonarDistance(){ return sonarAnalog->GetAverageVoltage(); diff --git a/Subsystems/Drivetrain.cpp b/Subsystems/Drivetrain.cpp index 0e4970f..d6bd2d3 100644 --- a/Subsystems/Drivetrain.cpp +++ b/Subsystems/Drivetrain.cpp @@ -12,9 +12,9 @@ void Drivetrain::InitDefaultCommand(){ SetDefaultCommand(new Drive()); } void Drivetrain::DriveMecanum(float x, float y, float z, float sensitivity, float gyro){ - double correctY = (sensitivity*(pow(y,3))+(1-sensitivity)*y); - double correctX = -(sensitivity*(pow(x,3))+(1-sensitivity)*x); - double correctZ = -z *.5; + double correctY = (sensitivity*(pow(y, 3))+(1-sensitivity)*y); + double correctX = -(sensitivity*(pow(x, 3))+(1-sensitivity)*x); + double correctZ = -z * 0.5; rightFront->Set((-correctX + correctY - correctZ)); leftFront->Set((correctX + correctY + correctZ)*-1); rightRear->Set((correctX + correctY - correctZ)); diff --git a/Subsystems/Drivetrain.h b/Subsystems/Drivetrain.h index 15b9d61..4550de8 100644 --- a/Subsystems/Drivetrain.h +++ b/Subsystems/Drivetrain.h @@ -15,9 +15,9 @@ class Drivetrain: public Subsystem{ BACKLEFT }; void InitDefaultCommand(); - void DriveMecanum(float,float,float,float,float); + void DriveMecanum(float, float, float, float, float); void DriveArcade(float, float); - void TestMotor(e_motors,float); + void TestMotor(e_motors, float); }; #endif // vim: ts=2:sw=2:et diff --git a/Subsystems/Elevator.cpp b/Subsystems/Elevator.cpp index bb26991..af1e32a 100644 --- a/Subsystems/Elevator.cpp +++ b/Subsystems/Elevator.cpp @@ -2,7 +2,7 @@ #include "../RobotMap.h" Elevator::Elevator(){ motor=new CANTalon(ELEVATOR_CAN); - elevatorEncoder=new Encoder(ELEVATOR_ENCODERA,ELEVATOR_ENCODERB,false); + 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);