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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 "../BinElevator/BinRaise.h"
#include "../BinElevator/BinLower.h"
#include "../BinCollector/BinCloseClaw.h"
#include "../BinCollector/BinOpenClaw.h"
#include "AutoDrive.h"
#include "Turn.h"
#include "../Collector/RollIn.h"
@ -25,11 +27,12 @@ Autonomous::Autonomous(int seq) {
AddSequential(new Turn(SmartDashboard::GetNumber("TurnAmount")));
break;
case 2:
//Collect a bin upright into the robot upright, turn, drive to Auto Zone (TM),turn
AddSequential(new RollIn(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")));
//Collect a bin upright into the robot upright and raise elevator
AddSequential(new BinOpenClaw());
AddSequential(new CollectTote());
AddSequential(new BinCloseClaw());
AddParallel(new AutoDrive(SmartDashboard::GetNumber("DriveTime2"), 0.0, 0.75, 0, false));
AddSequential(new Raise(2.5,false,-1));
break;
case 3:
// 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 "../Collector/RollIn.h"
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));
}
// 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
*/
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
*/

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
*/
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
*/

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
SmartDashboard::PutNumber("CollectToteTurn", 0.25);
// 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
SmartDashboard::PutNumber("Auto Sequence", -1.0);
SmartDashboard::PutNumber("Auto Wait Time", 0.5);