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Code Issues Releases Wiki Activity

added new auto, changed default parameters for raise and lower, ran astyle

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This commit is contained in:
Adam Long 2015-10-23 19:15:06 +00:00
parent e2a614de87
commit 34e05baf56
6 changed files with 14 additions and 10 deletions
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13
Commands/Autonomous/Autonomous.cpp
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@ -5,6 +5,8 @@
#include "../Elevator/Lower.h" #include "../Elevator/Lower.h"
#include "../BinElevator/BinRaise.h" #include "../BinElevator/BinRaise.h"
#include "../BinElevator/BinLower.h" #include "../BinElevator/BinLower.h"
#include "../BinCollector/BinCloseClaw.h"
#include "../BinCollector/BinOpenClaw.h"
#include "AutoDrive.h" #include "AutoDrive.h"
#include "Turn.h" #include "Turn.h"
#include "../Collector/RollIn.h" #include "../Collector/RollIn.h"
@ -25,11 +27,12 @@ Autonomous::Autonomous(int seq) {
AddSequential(new Turn(SmartDashboard::GetNumber("TurnAmount"))); AddSequential(new Turn(SmartDashboard::GetNumber("TurnAmount")));
break; break;
case 2: case 2:
//Collect a bin upright into the robot upright, turn, drive to Auto Zone (TM),turn //Collect a bin upright into the robot upright and raise elevator
AddSequential(new RollIn(1.0)); AddSequential(new BinOpenClaw());
AddSequential(new Turn(SmartDashboard::GetNumber("TurnAmount"))); AddSequential(new CollectTote());
AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Zone Distance"), 0.0, -0.75)); AddSequential(new BinCloseClaw());
AddSequential(new Turn(SmartDashboard::GetNumber("TurnAmount"))); AddParallel(new AutoDrive(SmartDashboard::GetNumber("DriveTime2"), 0.0, 0.75, 0, false));
AddSequential(new Raise(2.5,false,-1));
break; break;
case 3: case 3:
// Collect one, two, or three totes, drive to Auto Zone (TM), release totes // Collect one, two, or three totes, drive to Auto Zone (TM), release totes

2
Commands/Autonomous/CollectTote.cpp
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@ -3,7 +3,7 @@
#include "AutoDrive.h" #include "AutoDrive.h"
#include "../Collector/RollIn.h" #include "../Collector/RollIn.h"
CollectTote::CollectTote(double z) { CollectTote::CollectTote(double z) {
AddParallel(new AutoDrive(SmartDashboard::GetNumber("DriveTime"), 0.0, 0.75, z, false)); AddParallel(new AutoDrive(SmartDashboard::GetNumber("DriveTime1"), 0.0, 0.75, z, false));
AddSequential(new RollIn(1.0)); AddSequential(new RollIn(1.0));
} }
// vim: ts=2:sw=2:et // vim: ts=2:sw=2:et

2
Commands/Elevator/Lower.h
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@ -21,7 +21,7 @@ class Lower: public Command {
* *
* @param liftSpeed Speed at which to lower the lift * @param liftSpeed Speed at which to lower the lift
*/ */
Lower(double timeout = 3.0, bool useSoftLimits = true, double liftSpeed=0); Lower(double timeout = 3.0, bool useSoftLimits = true, double liftSpeed=1);
/** /**
* @brief Initializes the class * @brief Initializes the class
*/ */

2
Commands/Elevator/Raise.h
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@ -21,7 +21,7 @@ class Raise: public Command {
* *
* @param liftSpeed Speed at which to raise the elevator * @param liftSpeed Speed at which to raise the elevator
*/ */
Raise(double timeout = 3.5, bool useSoftLimits = true, double liftSpeed=0); Raise(double timeout = 3.5, bool useSoftLimits = true, double liftSpeed=-1);
/** /**
* @brief Initializes the class * @brief Initializes the class
*/ */

3
DentRobot.cpp
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@ -29,7 +29,8 @@ void DentRobot::RobotInit() {
// Amount to turn while collecting the initial tote in auto 4 // Amount to turn while collecting the initial tote in auto 4
SmartDashboard::PutNumber("CollectToteTurn", 0.25); SmartDashboard::PutNumber("CollectToteTurn", 0.25);
// Amount of time to collect a tote // Amount of time to collect a tote
SmartDashboard::PutNumber("DriveTime", 1.3); SmartDashboard::PutNumber("DriveTime1", 1.3);
SmartDashboard::PutNumber("DriveTime2", 1.3);
// Sequence of autonomous command // Sequence of autonomous command
SmartDashboard::PutNumber("Auto Sequence", -1.0); SmartDashboard::PutNumber("Auto Sequence", -1.0);
SmartDashboard::PutNumber("Auto Wait Time", 0.5); SmartDashboard::PutNumber("Auto Wait Time", 0.5);

2
Subsystems/Pneumatics.cpp
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@ -16,7 +16,7 @@ void Pneumatics::SetArmsOpen(bool state) {
solenoid2->Set(!state); solenoid2->Set(!state);
armState=state; armState=state;
} }
void Pneumatics::SetClawOpen(bool state){ void Pneumatics::SetClawOpen(bool state) {
solenoid3->Set(state); solenoid3->Set(state);
solenoid4->Set(!state); solenoid4->Set(!state);
clawState=state; clawState=state;