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https://github.com/team2059/Dent
synced 2024-12-18 20:52:29 -05:00
Preparing for releaes v2.1
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76e282b413
commit
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@ -71,19 +71,19 @@ Autonomous::Autonomous(int seq){
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//TODO: Implement this
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//TODO: Implement this
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break;
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break;
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case 7:
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case 7:
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// Same as auto 4 with (Three|Two) totes checked, collect bin, drive to Auto Zone (TM), release totes
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// Same as auto 4, then collect bin, drive to Auto Zone (TM), release totes
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//TODO: Implement this
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//TODO: Implement this
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break;
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break;
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case 8:
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case 8:
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//Use rear elevator to move tote
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//Use rear elevator to move tote
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AddSequential(new Turn(1.8));
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AddSequential(new Turn(1.8));
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AddSequential(new AutoDrive(2.3,0.0,-0.75));
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AddSequential(new AutoDrive(2.3, 0.0, -0.75));
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AddSequential(new Turn(1.8));
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AddSequential(new Turn(1.8));
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break;
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break;
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case 9:
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case 9:
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//Use rear elevator to move bin
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//Use rear elevator to move bin
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AddSequential(new BinLower(.1));
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AddSequential(new BinLower(0.1));
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AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Zone Distance"),0.0,0.75));
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AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Zone Distance"), 0.0, 0.75));
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AddSequential(new Turn(2.1));
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AddSequential(new Turn(2.1));
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break;
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break;
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default:
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default:
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@ -19,6 +19,18 @@
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* Sequence 2: Collects a tote, turns, then drives to the auto zone
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* Sequence 2: Collects a tote, turns, then drives to the auto zone
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*
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*
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* Sequence 3: Collects two or three totes then drives to auto zone
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* Sequence 3: Collects two or three totes then drives to auto zone
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*
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* Sequence 4: Collect one, two, or three totes, drive to Auto Zone, release totes
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*
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* Sequence 5: Same as auto 4, but navigate around bins (not implemented)
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*
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* Sequence 6: Collect 1 bin and 1 tote (not implemented)
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*
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* Sequence 7: Same as auto 4, then collect bin, drive to auto zone, release totes (not implemented)
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*
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* Sequence 8: Use rear elevator to move tote
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*
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* Sequence 9: Use rear elevator to move bin
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*/
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*/
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class Autonomous: public CommandGroup{
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class Autonomous: public CommandGroup{
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public:
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public:
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@ -5,7 +5,7 @@
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#include "WPILib.h"
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#include "WPILib.h"
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/**
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/**
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* @brief Closes BinElevatorArms (NOT USED)
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* @brief Closes BinElevatorArms (unused)
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*
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*
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* Sets the solenoid to close the arms of the BinElevator
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* Sets the solenoid to close the arms of the BinElevator
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*/
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*/
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@ -40,6 +40,5 @@ class BinCloseArms: public Command{
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*/
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*/
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void Interrupted();
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void Interrupted();
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};
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};
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#endif
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#endif
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// vim: ts=2:sw=2:et
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// vim: ts=2:sw=2:et
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@ -8,7 +8,6 @@
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* @brief Lowers the bin elevator until a timeout is reached
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* @brief Lowers the bin elevator until a timeout is reached
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*/
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*/
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class BinLower: public Command{
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class BinLower: public Command{
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private:
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public:
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public:
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/**
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/**
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* @brief Constructs BinLower
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* @brief Constructs BinLower
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@ -11,7 +11,7 @@
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*/
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*/
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class RollVar: public Command{
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class RollVar: public Command{
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private:
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private:
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double speed; //<! Speed control of the collector
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double speed; //<! Speed multiplier of the collector
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public:
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public:
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/**
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/**
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* @brief Constructs RollVar
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* @brief Constructs RollVar
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@ -72,12 +72,11 @@ void DentRobot::TeleopInit(){
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}
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}
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void DentRobot::TeleopPeriodic(){
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void DentRobot::TeleopPeriodic(){
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Scheduler::GetInstance()->Run();
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Scheduler::GetInstance()->Run();
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//TODO: Calibrate 1.0 to the height we want the elevator to automatically raise
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if(elevator->GetUseEncoder()&&elevator->GetHeight()<=-1.0){
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if(elevator->GetUseEncoder()&&elevator->GetHeight()<=-1.0){
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// Raise the elevator if it dips below elevatorTop
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// Raise the elevator if it dips below elevatorTop
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oi->raise->Start();
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oi->raise->Start();
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}
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}
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SmartDashboard::PutNumber("CollectorThrottle",oi->GetLeftThrottle());
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SmartDashboard::PutNumber("CollectorThrottle", oi->GetLeftThrottle());
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}
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}
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void DentRobot::TestPeriodic(){
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void DentRobot::TestPeriodic(){
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}
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}
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@ -13,7 +13,6 @@ void Drivetrain::InitDefaultCommand(){
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SetDefaultCommand(new Drive());
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SetDefaultCommand(new Drive());
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}
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}
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void Drivetrain::DriveMecanum(double x, double y, double z, double sensitivity, bool driveStraight){
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void Drivetrain::DriveMecanum(double x, double y, double z, double sensitivity, bool driveStraight){
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//TODO: Find the correct value for kP
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double kP=SmartDashboard::GetNumber("Gyro kP");
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double kP=SmartDashboard::GetNumber("Gyro kP");
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double correctX = -(sensitivity*(pow(x, 3))+(1-sensitivity)*x);
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double correctX = -(sensitivity*(pow(x, 3))+(1-sensitivity)*x);
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double correctY = -(sensitivity*(pow(y, 3))+(1-sensitivity)*y);
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double correctY = -(sensitivity*(pow(y, 3))+(1-sensitivity)*y);
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