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Updated auto sequence 2

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This commit is contained in:
Adam Long 2015-02-27 15:56:29 +00:00
parent 8fa8d3ba42
commit 2a3ddd6041
3 changed files with 4 additions and 3 deletions
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1
Commands/Autonomous/Autonomous.cpp
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@ -30,6 +30,7 @@ Autonomous::Autonomous(int seq){
AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Zone Distance"),0.75,0.0)); 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,-1.0));
AddSequential(new BinLower(1.0)); AddSequential(new BinLower(1.0));
AddSequential(new Turn(SmartDashboard::GetNumber("TurnAmount")));
break; break;
case 3: case 3:
// Collect three totes, drive to Auto Zone (TM) // Collect three totes, drive to Auto Zone (TM)

2
Commands/Autonomous/Turn.cpp
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@ -9,7 +9,7 @@ void Turn::Initialize(){
} }
void Turn::Execute(){ void Turn::Execute(){
//X axis, Y axis, Z axis, sensitivity, speed threshold (usually throttle), gyro //X axis, Y axis, Z axis, sensitivity, speed threshold (usually throttle), gyro
DentRobot::drivetrain->DriveMecanum(0.0,0.0,0.65,0.9,0.0); DentRobot::drivetrain->DriveMecanum(0.0,0.0,0.6,0.9,0.0);
} }
bool Turn::IsFinished(){ bool Turn::IsFinished(){
return IsTimedOut(); return IsTimedOut();

4
DentRobot.cpp
View File

@ -32,10 +32,10 @@ void DentRobot::RobotInit(){
SmartDashboard::PutBoolean("Three totes", true); SmartDashboard::PutBoolean("Three totes", true);
// 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", 3.0); 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("TurnAmount",1.9); SmartDashboard::PutNumber("TurnAmount",2);
// Elevators // Elevators
SmartDashboard::PutBoolean("Bin Elevator Bottom", false); SmartDashboard::PutBoolean("Bin Elevator Bottom", false);