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Worked on autonomous

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This commit is contained in:
Austen Adler 2015-02-13 17:34:38 -05:00
parent 81ec89c8f1
commit 24844d9086
5 changed files with 47 additions and 15 deletions
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4
Commands/Autonomous/AutoDrive.cpp
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@ -1,9 +1,9 @@
#include "AutoDrive.h" #include "AutoDrive.h"
#include "../../DentRobot.h" #include "../../DentRobot.h"
// Drive for a short while then stop. Just for testing // Drive for a short while then stop. Just for testing
AutoDrive::AutoDrive() : Command("AutoDrive"){ AutoDrive::AutoDrive(double wait) : Command("AutoDrive"){
Requires(DentRobot::drivetrain); Requires(DentRobot::drivetrain);
SetTimeout(0.5); SetTimeout(wait);
} }
void AutoDrive::Initialize(){ void AutoDrive::Initialize(){
} }

2
Commands/Autonomous/AutoDrive.h
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@ -8,7 +8,7 @@
class AutoDrive: public Command{ class AutoDrive: public Command{
public: public:
AutoDrive(); AutoDrive(double);
void Initialize(); void Initialize();
void Execute(); void Execute();
bool IsFinished(); bool IsFinished();

50
Commands/Autonomous/Autonomous.cpp
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@ -7,15 +7,45 @@
#include "../Collector/CloseCollector.h" #include "../Collector/CloseCollector.h"
#include "../Collector/OpenCollector.h" #include "../Collector/OpenCollector.h"
#include "../Collector/CollectTote.h" #include "../Collector/CollectTote.h"
Autonomous::Autonomous(){ Autonomous::Autonomous(int seq){
AddSequential(new Raise()); SmartDashboard::GetNumber("Auto Wait Time");
AddSequential(new Lower()); switch(seq){
AddParallel(new OpenCollector()); case 0:
AddParallel(new CloseCollector()); // Just for testing
AddSequential(new Turn()); AddSequential(new Raise());
AddParallel(new AutoDrive()); AddSequential(new Lower());
AddParallel(new CloseCollector()); AddSequential(new OpenCollector());
AddParallel(new CollectTote()); AddSequential(new CloseCollector());
AddSequential(new Turn()); AddSequential(new Turn());
AddParallel(new AutoDrive(0.5));
AddParallel(new CloseCollector());
AddSequential(new CollectTote());
AddSequential(new Turn());
break;
case 1:
// Drive forward a bit, turn around, collect tote then bin
AddParallel(new Raise());
AddSequential(new AutoDrive(0.5));
AddSequential(new Turn());
AddSequential(new Turn());
AddSequential(new CollectTote());
break;
case 2:
// Drive forward a bit, turn around, collect tote then bin
AddParallel(new Raise());
AddParallel(new AutoDrive(0.5));
AddSequential(new Turn());
AddSequential(new Turn());
AddSequential(new CollectTote());
break;
case 3:
// Wait a desigated value, drive to Auto Zone (TM)
Wait(SmartDashboard::GetNumber("Auto Wait Time"));
AddSequential(new AutoDrive(2.0));
break;
default:
printf("Invalid seq: %d\n", seq);
break;
}
} }
// vim: ts=2:sw=2:et // vim: ts=2:sw=2:et

2
Commands/Autonomous/Autonomous.h
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@ -8,7 +8,7 @@
class Autonomous: public CommandGroup{ class Autonomous: public CommandGroup{
public: public:
Autonomous(); Autonomous(int);
}; };
#endif #endif
// vim: ts=2:sw=2:et // vim: ts=2:sw=2:et

4
DentRobot.cpp
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@ -13,9 +13,11 @@ DentRobot::DentRobot(){
drivetrain=new Drivetrain(); drivetrain=new Drivetrain();
elevator=new Elevator(); elevator=new Elevator();
binElevator=new BinElevator(); binElevator=new BinElevator();
aut=new Autonomous(); aut=new Autonomous(0);
CameraServer::GetInstance()->SetQuality(25); CameraServer::GetInstance()->SetQuality(25);
CameraServer::GetInstance()->StartAutomaticCapture("cam0"); CameraServer::GetInstance()->StartAutomaticCapture("cam0");
SmartDashboard::PutNumber("Auto Wait Time", 1.0);
SmartDashboard::PutNumber("Auto Sequence", 0);
printf("Initialized"); printf("Initialized");
} }
void DentRobot::RobotInit(){ void DentRobot::RobotInit(){