From 4ba17432217432e57abb81fc681d95e494434e4c Mon Sep 17 00:00:00 2001 From: Austen Adler Date: Mon, 12 Jan 2015 22:24:04 -0500 Subject: [PATCH 01/43] Updated for bitbucket --- .gitmodules | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.gitmodules b/.gitmodules index daab3dd..7dec88e 100644 --- a/.gitmodules +++ b/.gitmodules @@ -1,3 +1,3 @@ [submodule "src/hhlib"] path = src/hhlib - url = git@github.com:team2059/hhlib.git + url = git@bitbucket.com:hitchhikers2059/hhlib.git From 87bce536e3c1743aab6b45c35424b9a574d82700 Mon Sep 17 00:00:00 2001 From: Austen Adler Date: Tue, 13 Jan 2015 11:07:34 -0500 Subject: [PATCH 02/43] Removed Debug directory --- .gitignore | 1 + 1 file changed, 1 insertion(+) diff --git a/.gitignore b/.gitignore index 5761abc..12a4c4b 100644 --- a/.gitignore +++ b/.gitignore @@ -1 +1,2 @@ *.o +Debug From 276d1534b41c1e528e65f47609b963669f0263fb Mon Sep 17 00:00:00 2001 From: Austen Adler Date: Fri, 16 Jan 2015 19:54:09 -0500 Subject: [PATCH 03/43] Reverted back to github --- .gitmodules | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.gitmodules b/.gitmodules index 7dec88e..daab3dd 100644 --- a/.gitmodules +++ b/.gitmodules @@ -1,3 +1,3 @@ [submodule "src/hhlib"] path = src/hhlib - url = git@bitbucket.com:hitchhikers2059/hhlib.git + url = git@github.com:team2059/hhlib.git From 10dc74300241f318986071beda80bcf1977d4e27 Mon Sep 17 00:00:00 2001 From: Austen Adler Date: Sun, 25 Jan 2015 08:44:43 -0500 Subject: [PATCH 04/43] Removed src folder --- src/HHBase.cpp => HHBase.cpp | 0 src/HHBase.h => HHBase.h | 0 src/HHRobot.cpp => HHRobot.cpp | 0 src/HHRobot.h => HHRobot.h | 0 src/hhlib | 1 - 5 files changed, 1 deletion(-) rename src/HHBase.cpp => HHBase.cpp (100%) rename src/HHBase.h => HHBase.h (100%) rename src/HHRobot.cpp => HHRobot.cpp (100%) rename src/HHRobot.h => HHRobot.h (100%) delete mode 160000 src/hhlib diff --git a/src/HHBase.cpp b/HHBase.cpp similarity index 100% rename from src/HHBase.cpp rename to HHBase.cpp diff --git a/src/HHBase.h b/HHBase.h similarity index 100% rename from src/HHBase.h rename to HHBase.h diff --git a/src/HHRobot.cpp b/HHRobot.cpp similarity index 100% rename from src/HHRobot.cpp rename to HHRobot.cpp diff --git a/src/HHRobot.h b/HHRobot.h similarity index 100% rename from src/HHRobot.h rename to HHRobot.h diff --git a/src/hhlib b/src/hhlib deleted file mode 160000 index 17606cc..0000000 --- a/src/hhlib +++ /dev/null @@ -1 +0,0 @@ -Subproject commit 17606cc482c4cdde363c96fda0b6efd92ccdbad9 From 54a72e6c40b13f128fbb53f9e39d6b39e154a121 Mon Sep 17 00:00:00 2001 From: Austen Adler Date: Sun, 1 Mar 2015 16:04:03 -0500 Subject: [PATCH 05/43] Added doxyfile --- .gitignore | 2 + Doxyfile | 1890 ++++++++++++++++++++++++++++++++++++++++++++++++++++ 2 files changed, 1892 insertions(+) create mode 100644 Doxyfile diff --git a/.gitignore b/.gitignore index 741abc9..92ae9fb 100644 --- a/.gitignore +++ b/.gitignore @@ -6,3 +6,5 @@ CMakeCache.txt CMakeFiles cmake_install.cmake vision +latex +html diff --git a/Doxyfile b/Doxyfile new file mode 100644 index 0000000..13b9508 --- /dev/null +++ b/Doxyfile @@ -0,0 +1,1890 @@ +# Doxyfile 1.8.4 + +# This file describes the settings to be used by the documentation system +# doxygen (www.doxygen.org) for a project. +# +# All text after a double hash (##) is considered a comment and is placed +# in front of the TAG it is preceding . +# All text after a hash (#) is considered a comment and will be ignored. +# The format is: +# TAG = value [value, ...] +# For lists items can also be appended using: +# TAG += value [value, ...] +# Values that contain spaces should be placed between quotes (" "). + +#--------------------------------------------------------------------------- +# Project related configuration options +#--------------------------------------------------------------------------- + +# This tag specifies the encoding used for all characters in the config file +# that follow. The default is UTF-8 which is also the encoding used for all +# text before the first occurrence of this tag. Doxygen uses libiconv (or the +# iconv built into libc) for the transcoding. See +# http://www.gnu.org/software/libiconv for the list of possible encodings. + +DOXYFILE_ENCODING = UTF-8 + +# The PROJECT_NAME tag is a single word (or sequence of words) that should +# identify the project. Note that if you do not use Doxywizard you need +# to put quotes around the project name if it contains spaces. + +PROJECT_NAME = "Dent" + +# The PROJECT_NUMBER tag can be used to enter a project or revision number. +# This could be handy for archiving the generated documentation or +# if some version control system is used. + +PROJECT_NUMBER = + +# Using the PROJECT_BRIEF tag one can provide an optional one line description +# for a project that appears at the top of each page and should give viewer +# a quick idea about the purpose of the project. Keep the description short. + +PROJECT_BRIEF = "The Hitchhikers 2015 Robot" + +# With the PROJECT_LOGO tag one can specify an logo or icon that is +# included in the documentation. The maximum height of the logo should not +# exceed 55 pixels and the maximum width should not exceed 200 pixels. +# Doxygen will copy the logo to the output directory. + +PROJECT_LOGO = + +# The OUTPUT_DIRECTORY tag is used to specify the (relative or absolute) +# base path where the generated documentation will be put. +# If a relative path is entered, it will be relative to the location +# where doxygen was started. If left blank the current directory will be used. + +OUTPUT_DIRECTORY = + +# If the CREATE_SUBDIRS tag is set to YES, then doxygen will create +# 4096 sub-directories (in 2 levels) under the output directory of each output +# format and will distribute the generated files over these directories. +# Enabling this option can be useful when feeding doxygen a huge amount of +# source files, where putting all generated files in the same directory would +# otherwise cause performance problems for the file system. + +CREATE_SUBDIRS = NO + +# The OUTPUT_LANGUAGE tag is used to specify the language in which all +# documentation generated by doxygen is written. Doxygen will use this +# information to generate all constant output in the proper language. +# The default language is English, other supported languages are: +# Afrikaans, Arabic, Brazilian, Catalan, Chinese, Chinese-Traditional, +# Croatian, Czech, Danish, Dutch, Esperanto, Farsi, Finnish, French, German, +# Greek, Hungarian, Italian, Japanese, Japanese-en (Japanese with English +# messages), Korean, Korean-en, Latvian, Lithuanian, Norwegian, Macedonian, +# Persian, Polish, Portuguese, Romanian, Russian, Serbian, Serbian-Cyrillic, +# Slovak, Slovene, Spanish, Swedish, Ukrainian, and Vietnamese. + +OUTPUT_LANGUAGE = English + +# If the BRIEF_MEMBER_DESC tag is set to YES (the default) Doxygen will +# include brief member descriptions after the members that are listed in +# the file and class documentation (similar to JavaDoc). +# Set to NO to disable this. + +BRIEF_MEMBER_DESC = YES + +# If the REPEAT_BRIEF tag is set to YES (the default) Doxygen will prepend +# the brief description of a member or function before the detailed description. +# Note: if both HIDE_UNDOC_MEMBERS and BRIEF_MEMBER_DESC are set to NO, the +# brief descriptions will be completely suppressed. + +REPEAT_BRIEF = YES + +# This tag implements a quasi-intelligent brief description abbreviator +# that is used to form the text in various listings. Each string +# in this list, if found as the leading text of the brief description, will be +# stripped from the text and the result after processing the whole list, is +# used as the annotated text. Otherwise, the brief description is used as-is. +# If left blank, the following values are used ("$name" is automatically +# replaced with the name of the entity): "The $name class" "The $name widget" +# "The $name file" "is" "provides" "specifies" "contains" +# "represents" "a" "an" "the" + +ABBREVIATE_BRIEF = + +# If the ALWAYS_DETAILED_SEC and REPEAT_BRIEF tags are both set to YES then +# Doxygen will generate a detailed section even if there is only a brief +# description. + +ALWAYS_DETAILED_SEC = NO + +# If the INLINE_INHERITED_MEMB tag is set to YES, doxygen will show all +# inherited members of a class in the documentation of that class as if those +# members were ordinary class members. Constructors, destructors and assignment +# operators of the base classes will not be shown. + +INLINE_INHERITED_MEMB = NO + +# If the FULL_PATH_NAMES tag is set to YES then Doxygen will prepend the full +# path before files name in the file list and in the header files. If set +# to NO the shortest path that makes the file name unique will be used. + +FULL_PATH_NAMES = YES + +# If the FULL_PATH_NAMES tag is set to YES then the STRIP_FROM_PATH tag +# can be used to strip a user-defined part of the path. Stripping is +# only done if one of the specified strings matches the left-hand part of +# the path. The tag can be used to show relative paths in the file list. +# If left blank the directory from which doxygen is run is used as the +# path to strip. Note that you specify absolute paths here, but also +# relative paths, which will be relative from the directory where doxygen is +# started. + +STRIP_FROM_PATH = + +# The STRIP_FROM_INC_PATH tag can be used to strip a user-defined part of +# the path mentioned in the documentation of a class, which tells +# the reader which header file to include in order to use a class. +# If left blank only the name of the header file containing the class +# definition is used. Otherwise one should specify the include paths that +# are normally passed to the compiler using the -I flag. + +STRIP_FROM_INC_PATH = + +# If the SHORT_NAMES tag is set to YES, doxygen will generate much shorter +# (but less readable) file names. This can be useful if your file system +# doesn't support long names like on DOS, Mac, or CD-ROM. + +SHORT_NAMES = NO + +# If the JAVADOC_AUTOBRIEF tag is set to YES then Doxygen +# will interpret the first line (until the first dot) of a JavaDoc-style +# comment as the brief description. If set to NO, the JavaDoc +# comments will behave just like regular Qt-style comments +# (thus requiring an explicit @brief command for a brief description.) + +JAVADOC_AUTOBRIEF = NO + +# If the QT_AUTOBRIEF tag is set to YES then Doxygen will +# interpret the first line (until the first dot) of a Qt-style +# comment as the brief description. If set to NO, the comments +# will behave just like regular Qt-style comments (thus requiring +# an explicit \brief command for a brief description.) + +QT_AUTOBRIEF = NO + +# The MULTILINE_CPP_IS_BRIEF tag can be set to YES to make Doxygen +# treat a multi-line C++ special comment block (i.e. a block of //! or /// +# comments) as a brief description. This used to be the default behaviour. +# The new default is to treat a multi-line C++ comment block as a detailed +# description. Set this tag to YES if you prefer the old behaviour instead. + +MULTILINE_CPP_IS_BRIEF = NO + +# If the INHERIT_DOCS tag is set to YES (the default) then an undocumented +# member inherits the documentation from any documented member that it +# re-implements. + +INHERIT_DOCS = YES + +# If the SEPARATE_MEMBER_PAGES tag is set to YES, then doxygen will produce +# a new page for each member. If set to NO, the documentation of a member will +# be part of the file/class/namespace that contains it. + +SEPARATE_MEMBER_PAGES = NO + +# The TAB_SIZE tag can be used to set the number of spaces in a tab. +# Doxygen uses this value to replace tabs by spaces in code fragments. + +TAB_SIZE = 4 + +# This tag can be used to specify a number of aliases that acts +# as commands in the documentation. An alias has the form "name=value". +# For example adding "sideeffect=\par Side Effects:\n" will allow you to +# put the command \sideeffect (or @sideeffect) in the documentation, which +# will result in a user-defined paragraph with heading "Side Effects:". +# You can put \n's in the value part of an alias to insert newlines. + +ALIASES = + +# This tag can be used to specify a number of word-keyword mappings (TCL only). +# A mapping has the form "name=value". For example adding +# "class=itcl::class" will allow you to use the command class in the +# itcl::class meaning. + +TCL_SUBST = + +# Set the OPTIMIZE_OUTPUT_FOR_C tag to YES if your project consists of C +# sources only. Doxygen will then generate output that is more tailored for C. +# For instance, some of the names that are used will be different. The list +# of all members will be omitted, etc. + +OPTIMIZE_OUTPUT_FOR_C = NO + +# Set the OPTIMIZE_OUTPUT_JAVA tag to YES if your project consists of Java +# sources only. Doxygen will then generate output that is more tailored for +# Java. For instance, namespaces will be presented as packages, qualified +# scopes will look different, etc. + +OPTIMIZE_OUTPUT_JAVA = NO + +# Set the OPTIMIZE_FOR_FORTRAN tag to YES if your project consists of Fortran +# sources only. Doxygen will then generate output that is more tailored for +# Fortran. + +OPTIMIZE_FOR_FORTRAN = NO + +# Set the OPTIMIZE_OUTPUT_VHDL tag to YES if your project consists of VHDL +# sources. Doxygen will then generate output that is tailored for +# VHDL. + +OPTIMIZE_OUTPUT_VHDL = NO + +# Doxygen selects the parser to use depending on the extension of the files it +# parses. With this tag you can assign which parser to use for a given +# extension. Doxygen has a built-in mapping, but you can override or extend it +# using this tag. The format is ext=language, where ext is a file extension, +# and language is one of the parsers supported by doxygen: IDL, Java, +# Javascript, CSharp, C, C++, D, PHP, Objective-C, Python, Fortran, VHDL, C, +# C++. For instance to make doxygen treat .inc files as Fortran files (default +# is PHP), and .f files as C (default is Fortran), use: inc=Fortran f=C. Note +# that for custom extensions you also need to set FILE_PATTERNS otherwise the +# files are not read by doxygen. + +EXTENSION_MAPPING = + +# If MARKDOWN_SUPPORT is enabled (the default) then doxygen pre-processes all +# comments according to the Markdown format, which allows for more readable +# documentation. See http://daringfireball.net/projects/markdown/ for details. +# The output of markdown processing is further processed by doxygen, so you +# can mix doxygen, HTML, and XML commands with Markdown formatting. +# Disable only in case of backward compatibilities issues. + +MARKDOWN_SUPPORT = YES + +# When enabled doxygen tries to link words that correspond to documented +# classes, or namespaces to their corresponding documentation. Such a link can +# be prevented in individual cases by by putting a % sign in front of the word +# or globally by setting AUTOLINK_SUPPORT to NO. + +AUTOLINK_SUPPORT = YES + +# If you use STL classes (i.e. std::string, std::vector, etc.) but do not want +# to include (a tag file for) the STL sources as input, then you should +# set this tag to YES in order to let doxygen match functions declarations and +# definitions whose arguments contain STL classes (e.g. func(std::string); v.s. +# func(std::string) {}). This also makes the inheritance and collaboration +# diagrams that involve STL classes more complete and accurate. + +BUILTIN_STL_SUPPORT = NO + +# If you use Microsoft's C++/CLI language, you should set this option to YES to +# enable parsing support. + +CPP_CLI_SUPPORT = NO + +# Set the SIP_SUPPORT tag to YES if your project consists of sip sources only. +# Doxygen will parse them like normal C++ but will assume all classes use public +# instead of private inheritance when no explicit protection keyword is present. + +SIP_SUPPORT = NO + +# For Microsoft's IDL there are propget and propput attributes to indicate +# getter and setter methods for a property. Setting this option to YES (the +# default) will make doxygen replace the get and set methods by a property in +# the documentation. This will only work if the methods are indeed getting or +# setting a simple type. If this is not the case, or you want to show the +# methods anyway, you should set this option to NO. + +IDL_PROPERTY_SUPPORT = YES + +# If member grouping is used in the documentation and the DISTRIBUTE_GROUP_DOC +# tag is set to YES, then doxygen will reuse the documentation of the first +# member in the group (if any) for the other members of the group. By default +# all members of a group must be documented explicitly. + +DISTRIBUTE_GROUP_DOC = NO + +# Set the SUBGROUPING tag to YES (the default) to allow class member groups of +# the same type (for instance a group of public functions) to be put as a +# subgroup of that type (e.g. under the Public Functions section). Set it to +# NO to prevent subgrouping. Alternatively, this can be done per class using +# the \nosubgrouping command. + +SUBGROUPING = YES + +# When the INLINE_GROUPED_CLASSES tag is set to YES, classes, structs and +# unions are shown inside the group in which they are included (e.g. using +# @ingroup) instead of on a separate page (for HTML and Man pages) or +# section (for LaTeX and RTF). + +INLINE_GROUPED_CLASSES = NO + +# When the INLINE_SIMPLE_STRUCTS tag is set to YES, structs, classes, and +# unions with only public data fields or simple typedef fields will be shown +# inline in the documentation of the scope in which they are defined (i.e. file, +# namespace, or group documentation), provided this scope is documented. If set +# to NO (the default), structs, classes, and unions are shown on a separate +# page (for HTML and Man pages) or section (for LaTeX and RTF). + +INLINE_SIMPLE_STRUCTS = NO + +# When TYPEDEF_HIDES_STRUCT is enabled, a typedef of a struct, union, or enum +# is documented as struct, union, or enum with the name of the typedef. So +# typedef struct TypeS {} TypeT, will appear in the documentation as a struct +# with name TypeT. When disabled the typedef will appear as a member of a file, +# namespace, or class. And the struct will be named TypeS. This can typically +# be useful for C code in case the coding convention dictates that all compound +# types are typedef'ed and only the typedef is referenced, never the tag name. + +TYPEDEF_HIDES_STRUCT = NO + +# The size of the symbol lookup cache can be set using LOOKUP_CACHE_SIZE. This +# cache is used to resolve symbols given their name and scope. Since this can +# be an expensive process and often the same symbol appear multiple times in +# the code, doxygen keeps a cache of pre-resolved symbols. If the cache is too +# small doxygen will become slower. If the cache is too large, memory is wasted. +# The cache size is given by this formula: 2^(16+LOOKUP_CACHE_SIZE). The valid +# range is 0..9, the default is 0, corresponding to a cache size of 2^16 = 65536 +# symbols. + +LOOKUP_CACHE_SIZE = 0 + +#--------------------------------------------------------------------------- +# Build related configuration options +#--------------------------------------------------------------------------- + +# If the EXTRACT_ALL tag is set to YES doxygen will assume all entities in +# documentation are documented, even if no documentation was available. +# Private class members and static file members will be hidden unless +# the EXTRACT_PRIVATE respectively EXTRACT_STATIC tags are set to YES + +EXTRACT_ALL = NO + +# If the EXTRACT_PRIVATE tag is set to YES all private members of a class +# will be included in the documentation. + +EXTRACT_PRIVATE = NO + +# If the EXTRACT_PACKAGE tag is set to YES all members with package or internal +# scope will be included in the documentation. + +EXTRACT_PACKAGE = NO + +# If the EXTRACT_STATIC tag is set to YES all static members of a file +# will be included in the documentation. + +EXTRACT_STATIC = NO + +# If the EXTRACT_LOCAL_CLASSES tag is set to YES classes (and structs) +# defined locally in source files will be included in the documentation. +# If set to NO only classes defined in header files are included. + +EXTRACT_LOCAL_CLASSES = YES + +# This flag is only useful for Objective-C code. When set to YES local +# methods, which are defined in the implementation section but not in +# the interface are included in the documentation. +# If set to NO (the default) only methods in the interface are included. + +EXTRACT_LOCAL_METHODS = NO + +# If this flag is set to YES, the members of anonymous namespaces will be +# extracted and appear in the documentation as a namespace called +# 'anonymous_namespace{file}', where file will be replaced with the base +# name of the file that contains the anonymous namespace. By default +# anonymous namespaces are hidden. + +EXTRACT_ANON_NSPACES = NO + +# If the HIDE_UNDOC_MEMBERS tag is set to YES, Doxygen will hide all +# undocumented members of documented classes, files or namespaces. +# If set to NO (the default) these members will be included in the +# various overviews, but no documentation section is generated. +# This option has no effect if EXTRACT_ALL is enabled. + +HIDE_UNDOC_MEMBERS = NO + +# If the HIDE_UNDOC_CLASSES tag is set to YES, Doxygen will hide all +# undocumented classes that are normally visible in the class hierarchy. +# If set to NO (the default) these classes will be included in the various +# overviews. This option has no effect if EXTRACT_ALL is enabled. + +HIDE_UNDOC_CLASSES = NO + +# If the HIDE_FRIEND_COMPOUNDS tag is set to YES, Doxygen will hide all +# friend (class|struct|union) declarations. +# If set to NO (the default) these declarations will be included in the +# documentation. + +HIDE_FRIEND_COMPOUNDS = NO + +# If the HIDE_IN_BODY_DOCS tag is set to YES, Doxygen will hide any +# documentation blocks found inside the body of a function. +# If set to NO (the default) these blocks will be appended to the +# function's detailed documentation block. + +HIDE_IN_BODY_DOCS = NO + +# The INTERNAL_DOCS tag determines if documentation +# that is typed after a \internal command is included. If the tag is set +# to NO (the default) then the documentation will be excluded. +# Set it to YES to include the internal documentation. + +INTERNAL_DOCS = NO + +# If the CASE_SENSE_NAMES tag is set to NO then Doxygen will only generate +# file names in lower-case letters. If set to YES upper-case letters are also +# allowed. This is useful if you have classes or files whose names only differ +# in case and if your file system supports case sensitive file names. Windows +# and Mac users are advised to set this option to NO. + +CASE_SENSE_NAMES = YES + +# If the HIDE_SCOPE_NAMES tag is set to NO (the default) then Doxygen +# will show members with their full class and namespace scopes in the +# documentation. If set to YES the scope will be hidden. + +HIDE_SCOPE_NAMES = NO + +# If the SHOW_INCLUDE_FILES tag is set to YES (the default) then Doxygen +# will put a list of the files that are included by a file in the documentation +# of that file. + +SHOW_INCLUDE_FILES = YES + +# If the FORCE_LOCAL_INCLUDES tag is set to YES then Doxygen +# will list include files with double quotes in the documentation +# rather than with sharp brackets. + +FORCE_LOCAL_INCLUDES = NO + +# If the INLINE_INFO tag is set to YES (the default) then a tag [inline] +# is inserted in the documentation for inline members. + +INLINE_INFO = YES + +# If the SORT_MEMBER_DOCS tag is set to YES (the default) then doxygen +# will sort the (detailed) documentation of file and class members +# alphabetically by member name. If set to NO the members will appear in +# declaration order. + +SORT_MEMBER_DOCS = YES + +# If the SORT_BRIEF_DOCS tag is set to YES then doxygen will sort the +# brief documentation of file, namespace and class members alphabetically +# by member name. If set to NO (the default) the members will appear in +# declaration order. + +SORT_BRIEF_DOCS = NO + +# If the SORT_MEMBERS_CTORS_1ST tag is set to YES then doxygen +# will sort the (brief and detailed) documentation of class members so that +# constructors and destructors are listed first. If set to NO (the default) +# the constructors will appear in the respective orders defined by +# SORT_MEMBER_DOCS and SORT_BRIEF_DOCS. +# This tag will be ignored for brief docs if SORT_BRIEF_DOCS is set to NO +# and ignored for detailed docs if SORT_MEMBER_DOCS is set to NO. + +SORT_MEMBERS_CTORS_1ST = NO + +# If the SORT_GROUP_NAMES tag is set to YES then doxygen will sort the +# hierarchy of group names into alphabetical order. If set to NO (the default) +# the group names will appear in their defined order. + +SORT_GROUP_NAMES = NO + +# If the SORT_BY_SCOPE_NAME tag is set to YES, the class list will be +# sorted by fully-qualified names, including namespaces. If set to +# NO (the default), the class list will be sorted only by class name, +# not including the namespace part. +# Note: This option is not very useful if HIDE_SCOPE_NAMES is set to YES. +# Note: This option applies only to the class list, not to the +# alphabetical list. + +SORT_BY_SCOPE_NAME = NO + +# If the STRICT_PROTO_MATCHING option is enabled and doxygen fails to +# do proper type resolution of all parameters of a function it will reject a +# match between the prototype and the implementation of a member function even +# if there is only one candidate or it is obvious which candidate to choose +# by doing a simple string match. By disabling STRICT_PROTO_MATCHING doxygen +# will still accept a match between prototype and implementation in such cases. + +STRICT_PROTO_MATCHING = NO + +# The GENERATE_TODOLIST tag can be used to enable (YES) or +# disable (NO) the todo list. This list is created by putting \todo +# commands in the documentation. + +GENERATE_TODOLIST = YES + +# The GENERATE_TESTLIST tag can be used to enable (YES) or +# disable (NO) the test list. This list is created by putting \test +# commands in the documentation. + +GENERATE_TESTLIST = YES + +# The GENERATE_BUGLIST tag can be used to enable (YES) or +# disable (NO) the bug list. This list is created by putting \bug +# commands in the documentation. + +GENERATE_BUGLIST = YES + +# The GENERATE_DEPRECATEDLIST tag can be used to enable (YES) or +# disable (NO) the deprecated list. This list is created by putting +# \deprecated commands in the documentation. + +GENERATE_DEPRECATEDLIST= YES + +# The ENABLED_SECTIONS tag can be used to enable conditional +# documentation sections, marked by \if section-label ... \endif +# and \cond section-label ... \endcond blocks. + +ENABLED_SECTIONS = + +# The MAX_INITIALIZER_LINES tag determines the maximum number of lines +# the initial value of a variable or macro consists of for it to appear in +# the documentation. If the initializer consists of more lines than specified +# here it will be hidden. Use a value of 0 to hide initializers completely. +# The appearance of the initializer of individual variables and macros in the +# documentation can be controlled using \showinitializer or \hideinitializer +# command in the documentation regardless of this setting. + +MAX_INITIALIZER_LINES = 30 + +# Set the SHOW_USED_FILES tag to NO to disable the list of files generated +# at the bottom of the documentation of classes and structs. If set to YES the +# list will mention the files that were used to generate the documentation. + +SHOW_USED_FILES = YES + +# Set the SHOW_FILES tag to NO to disable the generation of the Files page. +# This will remove the Files entry from the Quick Index and from the +# Folder Tree View (if specified). The default is YES. + +SHOW_FILES = YES + +# Set the SHOW_NAMESPACES tag to NO to disable the generation of the +# Namespaces page. +# This will remove the Namespaces entry from the Quick Index +# and from the Folder Tree View (if specified). The default is YES. + +SHOW_NAMESPACES = YES + +# The FILE_VERSION_FILTER tag can be used to specify a program or script that +# doxygen should invoke to get the current version for each file (typically from +# the version control system). Doxygen will invoke the program by executing (via +# popen()) the command , where is the value of +# the FILE_VERSION_FILTER tag, and is the name of an input file +# provided by doxygen. Whatever the program writes to standard output +# is used as the file version. See the manual for examples. + +FILE_VERSION_FILTER = + +# The LAYOUT_FILE tag can be used to specify a layout file which will be parsed +# by doxygen. The layout file controls the global structure of the generated +# output files in an output format independent way. To create the layout file +# that represents doxygen's defaults, run doxygen with the -l option. +# You can optionally specify a file name after the option, if omitted +# DoxygenLayout.xml will be used as the name of the layout file. + +LAYOUT_FILE = + +# The CITE_BIB_FILES tag can be used to specify one or more bib files +# containing the references data. This must be a list of .bib files. The +# .bib extension is automatically appended if omitted. Using this command +# requires the bibtex tool to be installed. See also +# http://en.wikipedia.org/wiki/BibTeX for more info. For LaTeX the style +# of the bibliography can be controlled using LATEX_BIB_STYLE. To use this +# feature you need bibtex and perl available in the search path. Do not use +# file names with spaces, bibtex cannot handle them. + +CITE_BIB_FILES = + +#--------------------------------------------------------------------------- +# configuration options related to warning and progress messages +#--------------------------------------------------------------------------- + +# The QUIET tag can be used to turn on/off the messages that are generated +# by doxygen. Possible values are YES and NO. If left blank NO is used. + +QUIET = NO + +# The WARNINGS tag can be used to turn on/off the warning messages that are +# generated by doxygen. Possible values are YES and NO. If left blank +# NO is used. + +WARNINGS = YES + +# If WARN_IF_UNDOCUMENTED is set to YES, then doxygen will generate warnings +# for undocumented members. If EXTRACT_ALL is set to YES then this flag will +# automatically be disabled. + +WARN_IF_UNDOCUMENTED = YES + +# If WARN_IF_DOC_ERROR is set to YES, doxygen will generate warnings for +# potential errors in the documentation, such as not documenting some +# parameters in a documented function, or documenting parameters that +# don't exist or using markup commands wrongly. + +WARN_IF_DOC_ERROR = YES + +# The WARN_NO_PARAMDOC option can be enabled to get warnings for +# functions that are documented, but have no documentation for their parameters +# or return value. If set to NO (the default) doxygen will only warn about +# wrong or incomplete parameter documentation, but not about the absence of +# documentation. + +WARN_NO_PARAMDOC = NO + +# The WARN_FORMAT tag determines the format of the warning messages that +# doxygen can produce. The string should contain the $file, $line, and $text +# tags, which will be replaced by the file and line number from which the +# warning originated and the warning text. Optionally the format may contain +# $version, which will be replaced by the version of the file (if it could +# be obtained via FILE_VERSION_FILTER) + +WARN_FORMAT = "$file:$line: $text" + +# The WARN_LOGFILE tag can be used to specify a file to which warning +# and error messages should be written. If left blank the output is written +# to stderr. + +WARN_LOGFILE = + +#--------------------------------------------------------------------------- +# configuration options related to the input files +#--------------------------------------------------------------------------- + +# The INPUT tag can be used to specify the files and/or directories that contain +# documented source files. You may enter file names like "myfile.cpp" or +# directories like "/usr/src/myproject". Separate the files or directories +# with spaces. + +INPUT = + +# This tag can be used to specify the character encoding of the source files +# that doxygen parses. Internally doxygen uses the UTF-8 encoding, which is +# also the default input encoding. Doxygen uses libiconv (or the iconv built +# into libc) for the transcoding. See http://www.gnu.org/software/libiconv for +# the list of possible encodings. + +INPUT_ENCODING = UTF-8 + +# If the value of the INPUT tag contains directories, you can use the +# FILE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp +# and *.h) to filter out the source-files in the directories. If left +# blank the following patterns are tested: +# *.c *.cc *.cxx *.cpp *.c++ *.d *.java *.ii *.ixx *.ipp *.i++ *.inl *.h *.hh +# *.hxx *.hpp *.h++ *.idl *.odl *.cs *.php *.php3 *.inc *.m *.mm *.dox *.py +# *.f90 *.f *.for *.vhd *.vhdl + +FILE_PATTERNS = + +# The RECURSIVE tag can be used to turn specify whether or not subdirectories +# should be searched for input files as well. Possible values are YES and NO. +# If left blank NO is used. + +RECURSIVE = YES + +# The EXCLUDE tag can be used to specify files and/or directories that should be +# excluded from the INPUT source files. This way you can easily exclude a +# subdirectory from a directory tree whose root is specified with the INPUT tag. +# Note that relative paths are relative to the directory from which doxygen is +# run. + +EXCLUDE = + +# The EXCLUDE_SYMLINKS tag can be used to select whether or not files or +# directories that are symbolic links (a Unix file system feature) are excluded +# from the input. + +EXCLUDE_SYMLINKS = NO + +# If the value of the INPUT tag contains directories, you can use the +# EXCLUDE_PATTERNS tag to specify one or more wildcard patterns to exclude +# certain files from those directories. Note that the wildcards are matched +# against the file with absolute path, so to exclude all test directories +# for example use the pattern */test/* + +EXCLUDE_PATTERNS = + +# The EXCLUDE_SYMBOLS tag can be used to specify one or more symbol names +# (namespaces, classes, functions, etc.) that should be excluded from the +# output. The symbol name can be a fully qualified name, a word, or if the +# wildcard * is used, a substring. Examples: ANamespace, AClass, +# AClass::ANamespace, ANamespace::*Test + +EXCLUDE_SYMBOLS = + +# The EXAMPLE_PATH tag can be used to specify one or more files or +# directories that contain example code fragments that are included (see +# the \include command). + +EXAMPLE_PATH = + +# If the value of the EXAMPLE_PATH tag contains directories, you can use the +# EXAMPLE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp +# and *.h) to filter out the source-files in the directories. If left +# blank all files are included. + +EXAMPLE_PATTERNS = + +# If the EXAMPLE_RECURSIVE tag is set to YES then subdirectories will be +# searched for input files to be used with the \include or \dontinclude +# commands irrespective of the value of the RECURSIVE tag. +# Possible values are YES and NO. If left blank NO is used. + +EXAMPLE_RECURSIVE = NO + +# The IMAGE_PATH tag can be used to specify one or more files or +# directories that contain image that are included in the documentation (see +# the \image command). + +IMAGE_PATH = + +# The INPUT_FILTER tag can be used to specify a program that doxygen should +# invoke to filter for each input file. Doxygen will invoke the filter program +# by executing (via popen()) the command , where +# is the value of the INPUT_FILTER tag, and is the name of an +# input file. Doxygen will then use the output that the filter program writes +# to standard output. +# If FILTER_PATTERNS is specified, this tag will be ignored. +# Note that the filter must not add or remove lines; it is applied before the +# code is scanned, but not when the output code is generated. If lines are added +# or removed, the anchors will not be placed correctly. + +INPUT_FILTER = + +# The FILTER_PATTERNS tag can be used to specify filters on a per file pattern +# basis. +# Doxygen will compare the file name with each pattern and apply the +# filter if there is a match. +# The filters are a list of the form: +# pattern=filter (like *.cpp=my_cpp_filter). See INPUT_FILTER for further +# info on how filters are used. If FILTER_PATTERNS is empty or if +# non of the patterns match the file name, INPUT_FILTER is applied. + +FILTER_PATTERNS = + +# If the FILTER_SOURCE_FILES tag is set to YES, the input filter (if set using +# INPUT_FILTER) will be used to filter the input files when producing source +# files to browse (i.e. when SOURCE_BROWSER is set to YES). + +FILTER_SOURCE_FILES = NO + +# The FILTER_SOURCE_PATTERNS tag can be used to specify source filters per file +# pattern. A pattern will override the setting for FILTER_PATTERN (if any) +# and it is also possible to disable source filtering for a specific pattern +# using *.ext= (so without naming a filter). This option only has effect when +# FILTER_SOURCE_FILES is enabled. + +FILTER_SOURCE_PATTERNS = + +# If the USE_MD_FILE_AS_MAINPAGE tag refers to the name of a markdown file that +# is part of the input, its contents will be placed on the main page +# (index.html). This can be useful if you have a project on for instance GitHub +# and want reuse the introduction page also for the doxygen output. + +USE_MDFILE_AS_MAINPAGE = + +#--------------------------------------------------------------------------- +# configuration options related to source browsing +#--------------------------------------------------------------------------- + +# If the SOURCE_BROWSER tag is set to YES then a list of source files will +# be generated. Documented entities will be cross-referenced with these sources. +# Note: To get rid of all source code in the generated output, make sure also +# VERBATIM_HEADERS is set to NO. + +SOURCE_BROWSER = NO + +# Setting the INLINE_SOURCES tag to YES will include the body +# of functions and classes directly in the documentation. + +INLINE_SOURCES = NO + +# Setting the STRIP_CODE_COMMENTS tag to YES (the default) will instruct +# doxygen to hide any special comment blocks from generated source code +# fragments. Normal C, C++ and Fortran comments will always remain visible. + +STRIP_CODE_COMMENTS = YES + +# If the REFERENCED_BY_RELATION tag is set to YES +# then for each documented function all documented +# functions referencing it will be listed. + +REFERENCED_BY_RELATION = NO + +# If the REFERENCES_RELATION tag is set to YES +# then for each documented function all documented entities +# called/used by that function will be listed. + +REFERENCES_RELATION = NO + +# If the REFERENCES_LINK_SOURCE tag is set to YES (the default) +# and SOURCE_BROWSER tag is set to YES, then the hyperlinks from +# functions in REFERENCES_RELATION and REFERENCED_BY_RELATION lists will +# link to the source code. +# Otherwise they will link to the documentation. + +REFERENCES_LINK_SOURCE = YES + +# If the USE_HTAGS tag is set to YES then the references to source code +# will point to the HTML generated by the htags(1) tool instead of doxygen +# built-in source browser. The htags tool is part of GNU's global source +# tagging system (see http://www.gnu.org/software/global/global.html). You +# will need version 4.8.6 or higher. + +USE_HTAGS = NO + +# If the VERBATIM_HEADERS tag is set to YES (the default) then Doxygen +# will generate a verbatim copy of the header file for each class for +# which an include is specified. Set to NO to disable this. + +VERBATIM_HEADERS = YES + +#--------------------------------------------------------------------------- +# configuration options related to the alphabetical class index +#--------------------------------------------------------------------------- + +# If the ALPHABETICAL_INDEX tag is set to YES, an alphabetical index +# of all compounds will be generated. Enable this if the project +# contains a lot of classes, structs, unions or interfaces. + +ALPHABETICAL_INDEX = YES + +# If the alphabetical index is enabled (see ALPHABETICAL_INDEX) then +# the COLS_IN_ALPHA_INDEX tag can be used to specify the number of columns +# in which this list will be split (can be a number in the range [1..20]) + +COLS_IN_ALPHA_INDEX = 5 + +# In case all classes in a project start with a common prefix, all +# classes will be put under the same header in the alphabetical index. +# The IGNORE_PREFIX tag can be used to specify one or more prefixes that +# should be ignored while generating the index headers. + +IGNORE_PREFIX = + +#--------------------------------------------------------------------------- +# configuration options related to the HTML output +#--------------------------------------------------------------------------- + +# If the GENERATE_HTML tag is set to YES (the default) Doxygen will +# generate HTML output. + +GENERATE_HTML = YES + +# The HTML_OUTPUT tag is used to specify where the HTML docs will be put. +# If a relative path is entered the value of OUTPUT_DIRECTORY will be +# put in front of it. If left blank `html' will be used as the default path. + +HTML_OUTPUT = html + +# The HTML_FILE_EXTENSION tag can be used to specify the file extension for +# each generated HTML page (for example: .htm,.php,.asp). If it is left blank +# doxygen will generate files with .html extension. + +HTML_FILE_EXTENSION = .html + +# The HTML_HEADER tag can be used to specify a personal HTML header for +# each generated HTML page. If it is left blank doxygen will generate a +# standard header. Note that when using a custom header you are responsible +# for the proper inclusion of any scripts and style sheets that doxygen +# needs, which is dependent on the configuration options used. +# It is advised to generate a default header using "doxygen -w html +# header.html footer.html stylesheet.css YourConfigFile" and then modify +# that header. Note that the header is subject to change so you typically +# have to redo this when upgrading to a newer version of doxygen or when +# changing the value of configuration settings such as GENERATE_TREEVIEW! + +HTML_HEADER = + +# The HTML_FOOTER tag can be used to specify a personal HTML footer for +# each generated HTML page. If it is left blank doxygen will generate a +# standard footer. + +HTML_FOOTER = + +# The HTML_STYLESHEET tag can be used to specify a user-defined cascading +# style sheet that is used by each HTML page. It can be used to +# fine-tune the look of the HTML output. If left blank doxygen will +# generate a default style sheet. Note that it is recommended to use +# HTML_EXTRA_STYLESHEET instead of this one, as it is more robust and this +# tag will in the future become obsolete. + +HTML_STYLESHEET = + +# The HTML_EXTRA_STYLESHEET tag can be used to specify an additional +# user-defined cascading style sheet that is included after the standard +# style sheets created by doxygen. Using this option one can overrule +# certain style aspects. This is preferred over using HTML_STYLESHEET +# since it does not replace the standard style sheet and is therefor more +# robust against future updates. Doxygen will copy the style sheet file to +# the output directory. + +HTML_EXTRA_STYLESHEET = + +# The HTML_EXTRA_FILES tag can be used to specify one or more extra images or +# other source files which should be copied to the HTML output directory. Note +# that these files will be copied to the base HTML output directory. Use the +# $relpath^ marker in the HTML_HEADER and/or HTML_FOOTER files to load these +# files. In the HTML_STYLESHEET file, use the file name only. Also note that +# the files will be copied as-is; there are no commands or markers available. + +HTML_EXTRA_FILES = + +# The HTML_COLORSTYLE_HUE tag controls the color of the HTML output. +# Doxygen will adjust the colors in the style sheet and background images +# according to this color. Hue is specified as an angle on a colorwheel, +# see http://en.wikipedia.org/wiki/Hue for more information. +# For instance the value 0 represents red, 60 is yellow, 120 is green, +# 180 is cyan, 240 is blue, 300 purple, and 360 is red again. +# The allowed range is 0 to 359. + +HTML_COLORSTYLE_HUE = 220 + +# The HTML_COLORSTYLE_SAT tag controls the purity (or saturation) of +# the colors in the HTML output. For a value of 0 the output will use +# grayscales only. A value of 255 will produce the most vivid colors. + +HTML_COLORSTYLE_SAT = 100 + +# The HTML_COLORSTYLE_GAMMA tag controls the gamma correction applied to +# the luminance component of the colors in the HTML output. Values below +# 100 gradually make the output lighter, whereas values above 100 make +# the output darker. The value divided by 100 is the actual gamma applied, +# so 80 represents a gamma of 0.8, The value 220 represents a gamma of 2.2, +# and 100 does not change the gamma. + +HTML_COLORSTYLE_GAMMA = 80 + +# If the HTML_TIMESTAMP tag is set to YES then the footer of each generated HTML +# page will contain the date and time when the page was generated. Setting +# this to NO can help when comparing the output of multiple runs. + +HTML_TIMESTAMP = YES + +# If the HTML_DYNAMIC_SECTIONS tag is set to YES then the generated HTML +# documentation will contain sections that can be hidden and shown after the +# page has loaded. + +HTML_DYNAMIC_SECTIONS = NO + +# With HTML_INDEX_NUM_ENTRIES one can control the preferred number of +# entries shown in the various tree structured indices initially; the user +# can expand and collapse entries dynamically later on. Doxygen will expand +# the tree to such a level that at most the specified number of entries are +# visible (unless a fully collapsed tree already exceeds this amount). +# So setting the number of entries 1 will produce a full collapsed tree by +# default. 0 is a special value representing an infinite number of entries +# and will result in a full expanded tree by default. + +HTML_INDEX_NUM_ENTRIES = 100 + +# If the GENERATE_DOCSET tag is set to YES, additional index files +# will be generated that can be used as input for Apple's Xcode 3 +# integrated development environment, introduced with OSX 10.5 (Leopard). +# To create a documentation set, doxygen will generate a Makefile in the +# HTML output directory. Running make will produce the docset in that +# directory and running "make install" will install the docset in +# ~/Library/Developer/Shared/Documentation/DocSets so that Xcode will find +# it at startup. +# See http://developer.apple.com/tools/creatingdocsetswithdoxygen.html +# for more information. + +GENERATE_DOCSET = NO + +# When GENERATE_DOCSET tag is set to YES, this tag determines the name of the +# feed. A documentation feed provides an umbrella under which multiple +# documentation sets from a single provider (such as a company or product suite) +# can be grouped. + +DOCSET_FEEDNAME = "Doxygen generated docs" + +# When GENERATE_DOCSET tag is set to YES, this tag specifies a string that +# should uniquely identify the documentation set bundle. This should be a +# reverse domain-name style string, e.g. com.mycompany.MyDocSet. Doxygen +# will append .docset to the name. + +DOCSET_BUNDLE_ID = org.doxygen.Project + +# When GENERATE_PUBLISHER_ID tag specifies a string that should uniquely +# identify the documentation publisher. This should be a reverse domain-name +# style string, e.g. com.mycompany.MyDocSet.documentation. + +DOCSET_PUBLISHER_ID = org.doxygen.Publisher + +# The GENERATE_PUBLISHER_NAME tag identifies the documentation publisher. + +DOCSET_PUBLISHER_NAME = Publisher + +# If the GENERATE_HTMLHELP tag is set to YES, additional index files +# will be generated that can be used as input for tools like the +# Microsoft HTML help workshop to generate a compiled HTML help file (.chm) +# of the generated HTML documentation. + +GENERATE_HTMLHELP = NO + +# If the GENERATE_HTMLHELP tag is set to YES, the CHM_FILE tag can +# be used to specify the file name of the resulting .chm file. You +# can add a path in front of the file if the result should not be +# written to the html output directory. + +CHM_FILE = + +# If the GENERATE_HTMLHELP tag is set to YES, the HHC_LOCATION tag can +# be used to specify the location (absolute path including file name) of +# the HTML help compiler (hhc.exe). If non-empty doxygen will try to run +# the HTML help compiler on the generated index.hhp. + +HHC_LOCATION = + +# If the GENERATE_HTMLHELP tag is set to YES, the GENERATE_CHI flag +# controls if a separate .chi index file is generated (YES) or that +# it should be included in the master .chm file (NO). + +GENERATE_CHI = NO + +# If the GENERATE_HTMLHELP tag is set to YES, the CHM_INDEX_ENCODING +# is used to encode HtmlHelp index (hhk), content (hhc) and project file +# content. + +CHM_INDEX_ENCODING = + +# If the GENERATE_HTMLHELP tag is set to YES, the BINARY_TOC flag +# controls whether a binary table of contents is generated (YES) or a +# normal table of contents (NO) in the .chm file. + +BINARY_TOC = NO + +# The TOC_EXPAND flag can be set to YES to add extra items for group members +# to the contents of the HTML help documentation and to the tree view. + +TOC_EXPAND = NO + +# If the GENERATE_QHP tag is set to YES and both QHP_NAMESPACE and +# QHP_VIRTUAL_FOLDER are set, an additional index file will be generated +# that can be used as input for Qt's qhelpgenerator to generate a +# Qt Compressed Help (.qch) of the generated HTML documentation. + +GENERATE_QHP = NO + +# If the QHG_LOCATION tag is specified, the QCH_FILE tag can +# be used to specify the file name of the resulting .qch file. +# The path specified is relative to the HTML output folder. + +QCH_FILE = + +# The QHP_NAMESPACE tag specifies the namespace to use when generating +# Qt Help Project output. For more information please see +# http://doc.trolltech.com/qthelpproject.html#namespace + +QHP_NAMESPACE = org.doxygen.Project + +# The QHP_VIRTUAL_FOLDER tag specifies the namespace to use when generating +# Qt Help Project output. For more information please see +# http://doc.trolltech.com/qthelpproject.html#virtual-folders + +QHP_VIRTUAL_FOLDER = doc + +# If QHP_CUST_FILTER_NAME is set, it specifies the name of a custom filter to +# add. For more information please see +# http://doc.trolltech.com/qthelpproject.html#custom-filters + +QHP_CUST_FILTER_NAME = + +# The QHP_CUST_FILT_ATTRS tag specifies the list of the attributes of the +# custom filter to add. For more information please see +# +# Qt Help Project / Custom Filters. + +QHP_CUST_FILTER_ATTRS = + +# The QHP_SECT_FILTER_ATTRS tag specifies the list of the attributes this +# project's +# filter section matches. +# +# Qt Help Project / Filter Attributes. + +QHP_SECT_FILTER_ATTRS = + +# If the GENERATE_QHP tag is set to YES, the QHG_LOCATION tag can +# be used to specify the location of Qt's qhelpgenerator. +# If non-empty doxygen will try to run qhelpgenerator on the generated +# .qhp file. + +QHG_LOCATION = + +# If the GENERATE_ECLIPSEHELP tag is set to YES, additional index files +# will be generated, which together with the HTML files, form an Eclipse help +# plugin. To install this plugin and make it available under the help contents +# menu in Eclipse, the contents of the directory containing the HTML and XML +# files needs to be copied into the plugins directory of eclipse. The name of +# the directory within the plugins directory should be the same as +# the ECLIPSE_DOC_ID value. After copying Eclipse needs to be restarted before +# the help appears. + +GENERATE_ECLIPSEHELP = NO + +# A unique identifier for the eclipse help plugin. When installing the plugin +# the directory name containing the HTML and XML files should also have +# this name. + +ECLIPSE_DOC_ID = org.doxygen.Project + +# The DISABLE_INDEX tag can be used to turn on/off the condensed index (tabs) +# at top of each HTML page. The value NO (the default) enables the index and +# the value YES disables it. Since the tabs have the same information as the +# navigation tree you can set this option to NO if you already set +# GENERATE_TREEVIEW to YES. + +DISABLE_INDEX = NO + +# The GENERATE_TREEVIEW tag is used to specify whether a tree-like index +# structure should be generated to display hierarchical information. +# If the tag value is set to YES, a side panel will be generated +# containing a tree-like index structure (just like the one that +# is generated for HTML Help). For this to work a browser that supports +# JavaScript, DHTML, CSS and frames is required (i.e. any modern browser). +# Windows users are probably better off using the HTML help feature. +# Since the tree basically has the same information as the tab index you +# could consider to set DISABLE_INDEX to NO when enabling this option. + +GENERATE_TREEVIEW = NO + +# The ENUM_VALUES_PER_LINE tag can be used to set the number of enum values +# (range [0,1..20]) that doxygen will group on one line in the generated HTML +# documentation. Note that a value of 0 will completely suppress the enum +# values from appearing in the overview section. + +ENUM_VALUES_PER_LINE = 4 + +# If the treeview is enabled (see GENERATE_TREEVIEW) then this tag can be +# used to set the initial width (in pixels) of the frame in which the tree +# is shown. + +TREEVIEW_WIDTH = 250 + +# When the EXT_LINKS_IN_WINDOW option is set to YES doxygen will open +# links to external symbols imported via tag files in a separate window. + +EXT_LINKS_IN_WINDOW = NO + +# Use this tag to change the font size of Latex formulas included +# as images in the HTML documentation. The default is 10. Note that +# when you change the font size after a successful doxygen run you need +# to manually remove any form_*.png images from the HTML output directory +# to force them to be regenerated. + +FORMULA_FONTSIZE = 10 + +# Use the FORMULA_TRANPARENT tag to determine whether or not the images +# generated for formulas are transparent PNGs. Transparent PNGs are +# not supported properly for IE 6.0, but are supported on all modern browsers. +# Note that when changing this option you need to delete any form_*.png files +# in the HTML output before the changes have effect. + +FORMULA_TRANSPARENT = YES + +# Enable the USE_MATHJAX option to render LaTeX formulas using MathJax +# (see http://www.mathjax.org) which uses client side Javascript for the +# rendering instead of using prerendered bitmaps. Use this if you do not +# have LaTeX installed or if you want to formulas look prettier in the HTML +# output. When enabled you may also need to install MathJax separately and +# configure the path to it using the MATHJAX_RELPATH option. + +USE_MATHJAX = NO + +# When MathJax is enabled you can set the default output format to be used for +# the MathJax output. Supported types are HTML-CSS, NativeMML (i.e. MathML) and +# SVG. The default value is HTML-CSS, which is slower, but has the best +# compatibility. + +MATHJAX_FORMAT = HTML-CSS + +# When MathJax is enabled you need to specify the location relative to the +# HTML output directory using the MATHJAX_RELPATH option. The destination +# directory should contain the MathJax.js script. For instance, if the mathjax +# directory is located at the same level as the HTML output directory, then +# MATHJAX_RELPATH should be ../mathjax. The default value points to +# the MathJax Content Delivery Network so you can quickly see the result without +# installing MathJax. +# However, it is strongly recommended to install a local +# copy of MathJax from http://www.mathjax.org before deployment. + +MATHJAX_RELPATH = http://cdn.mathjax.org/mathjax/latest + +# The MATHJAX_EXTENSIONS tag can be used to specify one or MathJax extension +# names that should be enabled during MathJax rendering. + +MATHJAX_EXTENSIONS = + +# The MATHJAX_CODEFILE tag can be used to specify a file with javascript +# pieces of code that will be used on startup of the MathJax code. + +MATHJAX_CODEFILE = + +# When the SEARCHENGINE tag is enabled doxygen will generate a search box +# for the HTML output. The underlying search engine uses javascript +# and DHTML and should work on any modern browser. Note that when using +# HTML help (GENERATE_HTMLHELP), Qt help (GENERATE_QHP), or docsets +# (GENERATE_DOCSET) there is already a search function so this one should +# typically be disabled. For large projects the javascript based search engine +# can be slow, then enabling SERVER_BASED_SEARCH may provide a better solution. + +SEARCHENGINE = YES + +# When the SERVER_BASED_SEARCH tag is enabled the search engine will be +# implemented using a web server instead of a web client using Javascript. +# There are two flavours of web server based search depending on the +# EXTERNAL_SEARCH setting. When disabled, doxygen will generate a PHP script for +# searching and an index file used by the script. When EXTERNAL_SEARCH is +# enabled the indexing and searching needs to be provided by external tools. +# See the manual for details. + +SERVER_BASED_SEARCH = NO + +# When EXTERNAL_SEARCH is enabled doxygen will no longer generate the PHP +# script for searching. Instead the search results are written to an XML file +# which needs to be processed by an external indexer. Doxygen will invoke an +# external search engine pointed to by the SEARCHENGINE_URL option to obtain +# the search results. Doxygen ships with an example indexer (doxyindexer) and +# search engine (doxysearch.cgi) which are based on the open source search +# engine library Xapian. See the manual for configuration details. + +EXTERNAL_SEARCH = NO + +# The SEARCHENGINE_URL should point to a search engine hosted by a web server +# which will returned the search results when EXTERNAL_SEARCH is enabled. +# Doxygen ships with an example search engine (doxysearch) which is based on +# the open source search engine library Xapian. See the manual for configuration +# details. + +SEARCHENGINE_URL = + +# When SERVER_BASED_SEARCH and EXTERNAL_SEARCH are both enabled the unindexed +# search data is written to a file for indexing by an external tool. With the +# SEARCHDATA_FILE tag the name of this file can be specified. + +SEARCHDATA_FILE = searchdata.xml + +# When SERVER_BASED_SEARCH AND EXTERNAL_SEARCH are both enabled the +# EXTERNAL_SEARCH_ID tag can be used as an identifier for the project. This is +# useful in combination with EXTRA_SEARCH_MAPPINGS to search through multiple +# projects and redirect the results back to the right project. + +EXTERNAL_SEARCH_ID = + +# The EXTRA_SEARCH_MAPPINGS tag can be used to enable searching through doxygen +# projects other than the one defined by this configuration file, but that are +# all added to the same external search index. Each project needs to have a +# unique id set via EXTERNAL_SEARCH_ID. The search mapping then maps the id +# of to a relative location where the documentation can be found. +# The format is: EXTRA_SEARCH_MAPPINGS = id1=loc1 id2=loc2 ... + +EXTRA_SEARCH_MAPPINGS = + +#--------------------------------------------------------------------------- +# configuration options related to the LaTeX output +#--------------------------------------------------------------------------- + +# If the GENERATE_LATEX tag is set to YES (the default) Doxygen will +# generate Latex output. + +GENERATE_LATEX = YES + +# The LATEX_OUTPUT tag is used to specify where the LaTeX docs will be put. +# If a relative path is entered the value of OUTPUT_DIRECTORY will be +# put in front of it. If left blank `latex' will be used as the default path. + +LATEX_OUTPUT = latex + +# The LATEX_CMD_NAME tag can be used to specify the LaTeX command name to be +# invoked. If left blank `latex' will be used as the default command name. +# Note that when enabling USE_PDFLATEX this option is only used for +# generating bitmaps for formulas in the HTML output, but not in the +# Makefile that is written to the output directory. + +LATEX_CMD_NAME = latex + +# The MAKEINDEX_CMD_NAME tag can be used to specify the command name to +# generate index for LaTeX. If left blank `makeindex' will be used as the +# default command name. + +MAKEINDEX_CMD_NAME = makeindex + +# If the COMPACT_LATEX tag is set to YES Doxygen generates more compact +# LaTeX documents. This may be useful for small projects and may help to +# save some trees in general. + +COMPACT_LATEX = NO + +# The PAPER_TYPE tag can be used to set the paper type that is used +# by the printer. Possible values are: a4, letter, legal and +# executive. If left blank a4 will be used. + +PAPER_TYPE = a4 + +# The EXTRA_PACKAGES tag can be to specify one or more names of LaTeX +# packages that should be included in the LaTeX output. + +EXTRA_PACKAGES = + +# The LATEX_HEADER tag can be used to specify a personal LaTeX header for +# the generated latex document. The header should contain everything until +# the first chapter. If it is left blank doxygen will generate a +# standard header. Notice: only use this tag if you know what you are doing! + +LATEX_HEADER = + +# The LATEX_FOOTER tag can be used to specify a personal LaTeX footer for +# the generated latex document. The footer should contain everything after +# the last chapter. If it is left blank doxygen will generate a +# standard footer. Notice: only use this tag if you know what you are doing! + +LATEX_FOOTER = + +# The LATEX_EXTRA_FILES tag can be used to specify one or more extra images +# or other source files which should be copied to the LaTeX output directory. +# Note that the files will be copied as-is; there are no commands or markers +# available. + +LATEX_EXTRA_FILES = + +# If the PDF_HYPERLINKS tag is set to YES, the LaTeX that is generated +# is prepared for conversion to pdf (using ps2pdf). The pdf file will +# contain links (just like the HTML output) instead of page references +# This makes the output suitable for online browsing using a pdf viewer. + +PDF_HYPERLINKS = YES + +# If the USE_PDFLATEX tag is set to YES, pdflatex will be used instead of +# plain latex in the generated Makefile. Set this option to YES to get a +# higher quality PDF documentation. + +USE_PDFLATEX = YES + +# If the LATEX_BATCHMODE tag is set to YES, doxygen will add the \\batchmode. +# command to the generated LaTeX files. This will instruct LaTeX to keep +# running if errors occur, instead of asking the user for help. +# This option is also used when generating formulas in HTML. + +LATEX_BATCHMODE = NO + +# If LATEX_HIDE_INDICES is set to YES then doxygen will not +# include the index chapters (such as File Index, Compound Index, etc.) +# in the output. + +LATEX_HIDE_INDICES = NO + +# If LATEX_SOURCE_CODE is set to YES then doxygen will include +# source code with syntax highlighting in the LaTeX output. +# Note that which sources are shown also depends on other settings +# such as SOURCE_BROWSER. + +LATEX_SOURCE_CODE = NO + +# The LATEX_BIB_STYLE tag can be used to specify the style to use for the +# bibliography, e.g. plainnat, or ieeetr. The default style is "plain". See +# http://en.wikipedia.org/wiki/BibTeX for more info. + +LATEX_BIB_STYLE = plain + +#--------------------------------------------------------------------------- +# configuration options related to the RTF output +#--------------------------------------------------------------------------- + +# If the GENERATE_RTF tag is set to YES Doxygen will generate RTF output +# The RTF output is optimized for Word 97 and may not look very pretty with +# other RTF readers or editors. + +GENERATE_RTF = NO + +# The RTF_OUTPUT tag is used to specify where the RTF docs will be put. +# If a relative path is entered the value of OUTPUT_DIRECTORY will be +# put in front of it. If left blank `rtf' will be used as the default path. + +RTF_OUTPUT = rtf + +# If the COMPACT_RTF tag is set to YES Doxygen generates more compact +# RTF documents. This may be useful for small projects and may help to +# save some trees in general. + +COMPACT_RTF = NO + +# If the RTF_HYPERLINKS tag is set to YES, the RTF that is generated +# will contain hyperlink fields. The RTF file will +# contain links (just like the HTML output) instead of page references. +# This makes the output suitable for online browsing using WORD or other +# programs which support those fields. +# Note: wordpad (write) and others do not support links. + +RTF_HYPERLINKS = NO + +# Load style sheet definitions from file. Syntax is similar to doxygen's +# config file, i.e. a series of assignments. You only have to provide +# replacements, missing definitions are set to their default value. + +RTF_STYLESHEET_FILE = + +# Set optional variables used in the generation of an rtf document. +# Syntax is similar to doxygen's config file. + +RTF_EXTENSIONS_FILE = + +#--------------------------------------------------------------------------- +# configuration options related to the man page output +#--------------------------------------------------------------------------- + +# If the GENERATE_MAN tag is set to YES (the default) Doxygen will +# generate man pages + +GENERATE_MAN = NO + +# The MAN_OUTPUT tag is used to specify where the man pages will be put. +# If a relative path is entered the value of OUTPUT_DIRECTORY will be +# put in front of it. If left blank `man' will be used as the default path. + +MAN_OUTPUT = man + +# The MAN_EXTENSION tag determines the extension that is added to +# the generated man pages (default is the subroutine's section .3) + +MAN_EXTENSION = .3 + +# If the MAN_LINKS tag is set to YES and Doxygen generates man output, +# then it will generate one additional man file for each entity +# documented in the real man page(s). These additional files +# only source the real man page, but without them the man command +# would be unable to find the correct page. The default is NO. + +MAN_LINKS = NO + +#--------------------------------------------------------------------------- +# configuration options related to the XML output +#--------------------------------------------------------------------------- + +# If the GENERATE_XML tag is set to YES Doxygen will +# generate an XML file that captures the structure of +# the code including all documentation. + +GENERATE_XML = NO + +# The XML_OUTPUT tag is used to specify where the XML pages will be put. +# If a relative path is entered the value of OUTPUT_DIRECTORY will be +# put in front of it. If left blank `xml' will be used as the default path. + +XML_OUTPUT = xml + +# The XML_SCHEMA tag can be used to specify an XML schema, +# which can be used by a validating XML parser to check the +# syntax of the XML files. + +XML_SCHEMA = + +# The XML_DTD tag can be used to specify an XML DTD, +# which can be used by a validating XML parser to check the +# syntax of the XML files. + +XML_DTD = + +# If the XML_PROGRAMLISTING tag is set to YES Doxygen will +# dump the program listings (including syntax highlighting +# and cross-referencing information) to the XML output. Note that +# enabling this will significantly increase the size of the XML output. + +XML_PROGRAMLISTING = YES + +#--------------------------------------------------------------------------- +# configuration options related to the DOCBOOK output +#--------------------------------------------------------------------------- + +# If the GENERATE_DOCBOOK tag is set to YES Doxygen will generate DOCBOOK files +# that can be used to generate PDF. + +GENERATE_DOCBOOK = NO + +# The DOCBOOK_OUTPUT tag is used to specify where the DOCBOOK pages will be put. +# If a relative path is entered the value of OUTPUT_DIRECTORY will be put in +# front of it. If left blank docbook will be used as the default path. + +DOCBOOK_OUTPUT = docbook + +#--------------------------------------------------------------------------- +# configuration options for the AutoGen Definitions output +#--------------------------------------------------------------------------- + +# If the GENERATE_AUTOGEN_DEF tag is set to YES Doxygen will +# generate an AutoGen Definitions (see autogen.sf.net) file +# that captures the structure of the code including all +# documentation. Note that this feature is still experimental +# and incomplete at the moment. + +GENERATE_AUTOGEN_DEF = NO + +#--------------------------------------------------------------------------- +# configuration options related to the Perl module output +#--------------------------------------------------------------------------- + +# If the GENERATE_PERLMOD tag is set to YES Doxygen will +# generate a Perl module file that captures the structure of +# the code including all documentation. Note that this +# feature is still experimental and incomplete at the +# moment. + +GENERATE_PERLMOD = NO + +# If the PERLMOD_LATEX tag is set to YES Doxygen will generate +# the necessary Makefile rules, Perl scripts and LaTeX code to be able +# to generate PDF and DVI output from the Perl module output. + +PERLMOD_LATEX = NO + +# If the PERLMOD_PRETTY tag is set to YES the Perl module output will be +# nicely formatted so it can be parsed by a human reader. +# This is useful +# if you want to understand what is going on. +# On the other hand, if this +# tag is set to NO the size of the Perl module output will be much smaller +# and Perl will parse it just the same. + +PERLMOD_PRETTY = YES + +# The names of the make variables in the generated doxyrules.make file +# are prefixed with the string contained in PERLMOD_MAKEVAR_PREFIX. +# This is useful so different doxyrules.make files included by the same +# Makefile don't overwrite each other's variables. + +PERLMOD_MAKEVAR_PREFIX = + +#--------------------------------------------------------------------------- +# Configuration options related to the preprocessor +#--------------------------------------------------------------------------- + +# If the ENABLE_PREPROCESSING tag is set to YES (the default) Doxygen will +# evaluate all C-preprocessor directives found in the sources and include +# files. + +ENABLE_PREPROCESSING = YES + +# If the MACRO_EXPANSION tag is set to YES Doxygen will expand all macro +# names in the source code. If set to NO (the default) only conditional +# compilation will be performed. Macro expansion can be done in a controlled +# way by setting EXPAND_ONLY_PREDEF to YES. + +MACRO_EXPANSION = NO + +# If the EXPAND_ONLY_PREDEF and MACRO_EXPANSION tags are both set to YES +# then the macro expansion is limited to the macros specified with the +# PREDEFINED and EXPAND_AS_DEFINED tags. + +EXPAND_ONLY_PREDEF = NO + +# If the SEARCH_INCLUDES tag is set to YES (the default) the includes files +# pointed to by INCLUDE_PATH will be searched when a #include is found. + +SEARCH_INCLUDES = YES + +# The INCLUDE_PATH tag can be used to specify one or more directories that +# contain include files that are not input files but should be processed by +# the preprocessor. + +INCLUDE_PATH = + +# You can use the INCLUDE_FILE_PATTERNS tag to specify one or more wildcard +# patterns (like *.h and *.hpp) to filter out the header-files in the +# directories. If left blank, the patterns specified with FILE_PATTERNS will +# be used. + +INCLUDE_FILE_PATTERNS = + +# The PREDEFINED tag can be used to specify one or more macro names that +# are defined before the preprocessor is started (similar to the -D option of +# gcc). The argument of the tag is a list of macros of the form: name +# or name=definition (no spaces). If the definition and the = are +# omitted =1 is assumed. To prevent a macro definition from being +# undefined via #undef or recursively expanded use the := operator +# instead of the = operator. + +PREDEFINED = + +# If the MACRO_EXPANSION and EXPAND_ONLY_PREDEF tags are set to YES then +# this tag can be used to specify a list of macro names that should be expanded. +# The macro definition that is found in the sources will be used. +# Use the PREDEFINED tag if you want to use a different macro definition that +# overrules the definition found in the source code. + +EXPAND_AS_DEFINED = + +# If the SKIP_FUNCTION_MACROS tag is set to YES (the default) then +# doxygen's preprocessor will remove all references to function-like macros +# that are alone on a line, have an all uppercase name, and do not end with a +# semicolon, because these will confuse the parser if not removed. + +SKIP_FUNCTION_MACROS = YES + +#--------------------------------------------------------------------------- +# Configuration::additions related to external references +#--------------------------------------------------------------------------- + +# The TAGFILES option can be used to specify one or more tagfiles. For each +# tag file the location of the external documentation should be added. The +# format of a tag file without this location is as follows: +# +# TAGFILES = file1 file2 ... +# Adding location for the tag files is done as follows: +# +# TAGFILES = file1=loc1 "file2 = loc2" ... +# where "loc1" and "loc2" can be relative or absolute paths +# or URLs. Note that each tag file must have a unique name (where the name does +# NOT include the path). If a tag file is not located in the directory in which +# doxygen is run, you must also specify the path to the tagfile here. + +TAGFILES = + +# When a file name is specified after GENERATE_TAGFILE, doxygen will create +# a tag file that is based on the input files it reads. + +GENERATE_TAGFILE = + +# If the ALLEXTERNALS tag is set to YES all external classes will be listed +# in the class index. If set to NO only the inherited external classes +# will be listed. + +ALLEXTERNALS = NO + +# If the EXTERNAL_GROUPS tag is set to YES all external groups will be listed +# in the modules index. If set to NO, only the current project's groups will +# be listed. + +EXTERNAL_GROUPS = YES + +# If the EXTERNAL_PAGES tag is set to YES all external pages will be listed +# in the related pages index. If set to NO, only the current project's +# pages will be listed. + +EXTERNAL_PAGES = YES + +# The PERL_PATH should be the absolute path and name of the perl script +# interpreter (i.e. the result of `which perl'). + +PERL_PATH = /usr/bin/perl + +#--------------------------------------------------------------------------- +# Configuration options related to the dot tool +#--------------------------------------------------------------------------- + +# If the CLASS_DIAGRAMS tag is set to YES (the default) Doxygen will +# generate a inheritance diagram (in HTML, RTF and LaTeX) for classes with base +# or super classes. Setting the tag to NO turns the diagrams off. Note that +# this option also works with HAVE_DOT disabled, but it is recommended to +# install and use dot, since it yields more powerful graphs. + +CLASS_DIAGRAMS = YES + +# You can define message sequence charts within doxygen comments using the \msc +# command. Doxygen will then run the mscgen tool (see +# http://www.mcternan.me.uk/mscgen/) to produce the chart and insert it in the +# documentation. The MSCGEN_PATH tag allows you to specify the directory where +# the mscgen tool resides. If left empty the tool is assumed to be found in the +# default search path. + +MSCGEN_PATH = + +# If set to YES, the inheritance and collaboration graphs will hide +# inheritance and usage relations if the target is undocumented +# or is not a class. + +HIDE_UNDOC_RELATIONS = YES + +# If you set the HAVE_DOT tag to YES then doxygen will assume the dot tool is +# available from the path. This tool is part of Graphviz, a graph visualization +# toolkit from AT&T and Lucent Bell Labs. The other options in this section +# have no effect if this option is set to NO (the default) + +HAVE_DOT = NO + +# The DOT_NUM_THREADS specifies the number of dot invocations doxygen is +# allowed to run in parallel. When set to 0 (the default) doxygen will +# base this on the number of processors available in the system. You can set it +# explicitly to a value larger than 0 to get control over the balance +# between CPU load and processing speed. + +DOT_NUM_THREADS = 0 + +# By default doxygen will use the Helvetica font for all dot files that +# doxygen generates. When you want a differently looking font you can specify +# the font name using DOT_FONTNAME. You need to make sure dot is able to find +# the font, which can be done by putting it in a standard location or by setting +# the DOTFONTPATH environment variable or by setting DOT_FONTPATH to the +# directory containing the font. + +DOT_FONTNAME = Helvetica + +# The DOT_FONTSIZE tag can be used to set the size of the font of dot graphs. +# The default size is 10pt. + +DOT_FONTSIZE = 10 + +# By default doxygen will tell dot to use the Helvetica font. +# If you specify a different font using DOT_FONTNAME you can use DOT_FONTPATH to +# set the path where dot can find it. + +DOT_FONTPATH = + +# If the CLASS_GRAPH and HAVE_DOT tags are set to YES then doxygen +# will generate a graph for each documented class showing the direct and +# indirect inheritance relations. Setting this tag to YES will force the +# CLASS_DIAGRAMS tag to NO. + +CLASS_GRAPH = YES + +# If the COLLABORATION_GRAPH and HAVE_DOT tags are set to YES then doxygen +# will generate a graph for each documented class showing the direct and +# indirect implementation dependencies (inheritance, containment, and +# class references variables) of the class with other documented classes. + +COLLABORATION_GRAPH = YES + +# If the GROUP_GRAPHS and HAVE_DOT tags are set to YES then doxygen +# will generate a graph for groups, showing the direct groups dependencies + +GROUP_GRAPHS = YES + +# If the UML_LOOK tag is set to YES doxygen will generate inheritance and +# collaboration diagrams in a style similar to the OMG's Unified Modeling +# Language. + +UML_LOOK = NO + +# If the UML_LOOK tag is enabled, the fields and methods are shown inside +# the class node. If there are many fields or methods and many nodes the +# graph may become too big to be useful. The UML_LIMIT_NUM_FIELDS +# threshold limits the number of items for each type to make the size more +# manageable. Set this to 0 for no limit. Note that the threshold may be +# exceeded by 50% before the limit is enforced. + +UML_LIMIT_NUM_FIELDS = 10 + +# If set to YES, the inheritance and collaboration graphs will show the +# relations between templates and their instances. + +TEMPLATE_RELATIONS = NO + +# If the ENABLE_PREPROCESSING, SEARCH_INCLUDES, INCLUDE_GRAPH, and HAVE_DOT +# tags are set to YES then doxygen will generate a graph for each documented +# file showing the direct and indirect include dependencies of the file with +# other documented files. + +INCLUDE_GRAPH = YES + +# If the ENABLE_PREPROCESSING, SEARCH_INCLUDES, INCLUDED_BY_GRAPH, and +# HAVE_DOT tags are set to YES then doxygen will generate a graph for each +# documented header file showing the documented files that directly or +# indirectly include this file. + +INCLUDED_BY_GRAPH = YES + +# If the CALL_GRAPH and HAVE_DOT options are set to YES then +# doxygen will generate a call dependency graph for every global function +# or class method. Note that enabling this option will significantly increase +# the time of a run. So in most cases it will be better to enable call graphs +# for selected functions only using the \callgraph command. + +CALL_GRAPH = NO + +# If the CALLER_GRAPH and HAVE_DOT tags are set to YES then +# doxygen will generate a caller dependency graph for every global function +# or class method. Note that enabling this option will significantly increase +# the time of a run. So in most cases it will be better to enable caller +# graphs for selected functions only using the \callergraph command. + +CALLER_GRAPH = NO + +# If the GRAPHICAL_HIERARCHY and HAVE_DOT tags are set to YES then doxygen +# will generate a graphical hierarchy of all classes instead of a textual one. + +GRAPHICAL_HIERARCHY = YES + +# If the DIRECTORY_GRAPH and HAVE_DOT tags are set to YES +# then doxygen will show the dependencies a directory has on other directories +# in a graphical way. The dependency relations are determined by the #include +# relations between the files in the directories. + +DIRECTORY_GRAPH = YES + +# The DOT_IMAGE_FORMAT tag can be used to set the image format of the images +# generated by dot. Possible values are svg, png, jpg, or gif. +# If left blank png will be used. If you choose svg you need to set +# HTML_FILE_EXTENSION to xhtml in order to make the SVG files +# visible in IE 9+ (other browsers do not have this requirement). + +DOT_IMAGE_FORMAT = png + +# If DOT_IMAGE_FORMAT is set to svg, then this option can be set to YES to +# enable generation of interactive SVG images that allow zooming and panning. +# Note that this requires a modern browser other than Internet Explorer. +# Tested and working are Firefox, Chrome, Safari, and Opera. For IE 9+ you +# need to set HTML_FILE_EXTENSION to xhtml in order to make the SVG files +# visible. Older versions of IE do not have SVG support. + +INTERACTIVE_SVG = NO + +# The tag DOT_PATH can be used to specify the path where the dot tool can be +# found. If left blank, it is assumed the dot tool can be found in the path. + +DOT_PATH = + +# The DOTFILE_DIRS tag can be used to specify one or more directories that +# contain dot files that are included in the documentation (see the +# \dotfile command). + +DOTFILE_DIRS = + +# The MSCFILE_DIRS tag can be used to specify one or more directories that +# contain msc files that are included in the documentation (see the +# \mscfile command). + +MSCFILE_DIRS = + +# The DOT_GRAPH_MAX_NODES tag can be used to set the maximum number of +# nodes that will be shown in the graph. If the number of nodes in a graph +# becomes larger than this value, doxygen will truncate the graph, which is +# visualized by representing a node as a red box. Note that doxygen if the +# number of direct children of the root node in a graph is already larger than +# DOT_GRAPH_MAX_NODES then the graph will not be shown at all. Also note +# that the size of a graph can be further restricted by MAX_DOT_GRAPH_DEPTH. + +DOT_GRAPH_MAX_NODES = 50 + +# The MAX_DOT_GRAPH_DEPTH tag can be used to set the maximum depth of the +# graphs generated by dot. A depth value of 3 means that only nodes reachable +# from the root by following a path via at most 3 edges will be shown. Nodes +# that lay further from the root node will be omitted. Note that setting this +# option to 1 or 2 may greatly reduce the computation time needed for large +# code bases. Also note that the size of a graph can be further restricted by +# DOT_GRAPH_MAX_NODES. Using a depth of 0 means no depth restriction. + +MAX_DOT_GRAPH_DEPTH = 0 + +# Set the DOT_TRANSPARENT tag to YES to generate images with a transparent +# background. This is disabled by default, because dot on Windows does not +# seem to support this out of the box. Warning: Depending on the platform used, +# enabling this option may lead to badly anti-aliased labels on the edges of +# a graph (i.e. they become hard to read). + +DOT_TRANSPARENT = NO + +# Set the DOT_MULTI_TARGETS tag to YES allow dot to generate multiple output +# files in one run (i.e. multiple -o and -T options on the command line). This +# makes dot run faster, but since only newer versions of dot (>1.8.10) +# support this, this feature is disabled by default. + +DOT_MULTI_TARGETS = NO + +# If the GENERATE_LEGEND tag is set to YES (the default) Doxygen will +# generate a legend page explaining the meaning of the various boxes and +# arrows in the dot generated graphs. + +GENERATE_LEGEND = YES + +# If the DOT_CLEANUP tag is set to YES (the default) Doxygen will +# remove the intermediate dot files that are used to generate +# the various graphs. + +DOT_CLEANUP = YES From 9cb891b90a51d243709333edc642142fcd383a69 Mon Sep 17 00:00:00 2001 From: Austen Adler Date: Sun, 1 Mar 2015 16:48:37 -0500 Subject: [PATCH 06/43] Minor command improvements --- Commands/Autonomous/Turn.cpp | 2 +- Commands/Autonomous/Turn.h | 2 +- Commands/BinElevator/BinCloseArms.cpp | 3 +-- Commands/BinElevator/BinOpenArms.cpp | 1 - 4 files changed, 3 insertions(+), 5 deletions(-) diff --git a/Commands/Autonomous/Turn.cpp b/Commands/Autonomous/Turn.cpp index 11a51d9..848cc6e 100644 --- a/Commands/Autonomous/Turn.cpp +++ b/Commands/Autonomous/Turn.cpp @@ -1,7 +1,7 @@ #include "Turn.h" #include "../../DentRobot.h" // Drive for a short while then stop. Just for testing -Turn::Turn(int k) : Command("Turn"){ +Turn::Turn(double k) : Command("Turn"){ Requires(DentRobot::drivetrain); SetTimeout(k); } diff --git a/Commands/Autonomous/Turn.h b/Commands/Autonomous/Turn.h index b128c20..515ce44 100644 --- a/Commands/Autonomous/Turn.h +++ b/Commands/Autonomous/Turn.h @@ -10,7 +10,7 @@ class Turn: public Command{ private: int degrees; public: - Turn(int); + Turn(double); void Initialize(); void Execute(); bool IsFinished(); diff --git a/Commands/BinElevator/BinCloseArms.cpp b/Commands/BinElevator/BinCloseArms.cpp index 1cb292f..37a4534 100644 --- a/Commands/BinElevator/BinCloseArms.cpp +++ b/Commands/BinElevator/BinCloseArms.cpp @@ -4,11 +4,10 @@ BinCloseArms::BinCloseArms() : Command("BinCloseArms"){ } void BinCloseArms::Initialize(){ - //Should never need to use this SetTimeout(0.5); } void BinCloseArms::Execute(){ - DentRobot::pneumatics->SetOpen(true); + DentRobot::pneumatics->SetOpen(false); } bool BinCloseArms::IsFinished(){ return true; diff --git a/Commands/BinElevator/BinOpenArms.cpp b/Commands/BinElevator/BinOpenArms.cpp index c8936a4..2a415d3 100644 --- a/Commands/BinElevator/BinOpenArms.cpp +++ b/Commands/BinElevator/BinOpenArms.cpp @@ -4,7 +4,6 @@ BinOpenArms::BinOpenArms() : Command("BinOpenArms"){ } void BinOpenArms::Initialize(){ - //Should never need to use this SetTimeout(0.5); } void BinOpenArms::Execute(){ From d35d8e95b46c3b44166f22e29d952201c75b046b Mon Sep 17 00:00:00 2001 From: Austen Adler Date: Sun, 1 Mar 2015 17:19:00 -0500 Subject: [PATCH 07/43] Started working on documentation --- Commands/Autonomous/AutoDrive.h | 30 +++++++++++++++++++++++++++- Commands/Autonomous/Autonomous.h | 19 ++++++++++++++++++ Commands/Autonomous/CollectTote.h | 8 ++++++++ Commands/Autonomous/ReleaseTote.h | 8 ++++++++ Commands/Autonomous/Turn.h | 27 +++++++++++++++++++++++++ Commands/BinElevator/BinCloseArms.h | 25 +++++++++++++++++++++++ Commands/BinElevator/BinLower.h | 25 +++++++++++++++++++++++ Commands/BinElevator/BinOpenArms.h | 21 ++++++++++++++++++- Commands/BinElevator/BinRaise.h | 26 +++++++++++++++++++++++- Commands/Collector/RollIn.h | 26 +++++++++++++++++++++++- Commands/Collector/RollOut.h | 24 +++++++++++++++++++++- Commands/Drivetrain/Drive.h | 25 +++++++++++++++++++++++ Commands/Elevator/Lower.h | 23 +++++++++++++++++++++ Commands/Elevator/Raise.h | 24 +++++++++++++++++++++- Commands/Test/CheckDrive.h | 25 +++++++++++++++++++++++ Commands/Test/CheckRobot.h | 6 ++++++ OI.h | 31 ++++++++++++++++++++++++++++- 17 files changed, 366 insertions(+), 7 deletions(-) diff --git a/Commands/Autonomous/AutoDrive.h b/Commands/Autonomous/AutoDrive.h index 6fa66ef..9ad5286 100644 --- a/Commands/Autonomous/AutoDrive.h +++ b/Commands/Autonomous/AutoDrive.h @@ -6,16 +6,44 @@ #include "../../DentRobot.h" #include "WPILib.h" +/** + * @brief Drives the robot without a joystick + * + * Drives the robot given a timeout and joystick values + */ class AutoDrive: public Command{ private: double x, y; public: - AutoDrive(double); + /** + * @brief Constructs AutoDrive + * + * @param double Timeout in seconds + * @param double Joystick x value (default: 0.0) + * @param double Joystick y value (default: 0.75) + */ AutoDrive(double, double, double); + /** + * @brief Initializes the class + */ void Initialize(); + /** + * @brief Drives the robot + */ void Execute(); + /** + * @brief Checks if the command is finished + * + * @return True only if the timeout was reached + */ bool IsFinished(); + /** + * @brief Sets the drivetrain to stop + */ void End(); + /** + * @brief Calls End() + */ void Interrupted(); }; #endif diff --git a/Commands/Autonomous/Autonomous.h b/Commands/Autonomous/Autonomous.h index f5786e2..4850c97 100644 --- a/Commands/Autonomous/Autonomous.h +++ b/Commands/Autonomous/Autonomous.h @@ -6,8 +6,27 @@ #include "../../DentRobot.h" #include "WPILib.h" +/** + * @brief The autonomous period of the robot + * + * Contains three sequences selectable from the SmartDashboard + * All sequences will wait for the SmartDashboard value "Auto Wait Time" + * + * Sequence 0: Used for testing only + * + * Sequence 1: Drives forward "Auto Zone Distance" at -0.8 power + * + * Sequence 2: Collects a tote, turns, then drives to the auto zone + * + * Sequence 3: Collects two or three totes then drives to auto zone + */ class Autonomous: public CommandGroup{ public: + /** + * @brief Constructs Autonomous + * + * @param int The sequence to run + */ Autonomous(int); }; #endif diff --git a/Commands/Autonomous/CollectTote.h b/Commands/Autonomous/CollectTote.h index be6d94e..0d7c013 100644 --- a/Commands/Autonomous/CollectTote.h +++ b/Commands/Autonomous/CollectTote.h @@ -6,8 +6,16 @@ #include "../../DentRobot.h" #include "WPILib.h" +/** + * @brief Collects one tote + * + * Rolls collector wheels in and drives forward in parallel + */ class CollectTote: public CommandGroup{ public: + /** + * @brief Constructs CollectTote + */ CollectTote(); }; #endif diff --git a/Commands/Autonomous/ReleaseTote.h b/Commands/Autonomous/ReleaseTote.h index df04a04..f91dc65 100644 --- a/Commands/Autonomous/ReleaseTote.h +++ b/Commands/Autonomous/ReleaseTote.h @@ -6,8 +6,16 @@ #include "../../DentRobot.h" #include "WPILib.h" +/** + * @brief Releases one tote + * + * Rolls collector wheels out and drives backwards in parallel + */ class ReleaseTote: public CommandGroup{ public: + /** + * @brief Constructs ReleaseTote + */ ReleaseTote(); }; #endif diff --git a/Commands/Autonomous/Turn.h b/Commands/Autonomous/Turn.h index 515ce44..3781a0a 100644 --- a/Commands/Autonomous/Turn.h +++ b/Commands/Autonomous/Turn.h @@ -6,15 +6,42 @@ #include "../../DentRobot.h" #include "WPILib.h" +/** + * @brief Turns the robot + * + * Turns the robot until a timeout is reached + */ class Turn: public Command{ private: int degrees; public: + /** + * @brief Constructs Turn + * + * @param double Timeout in seconds + */ Turn(double); + /** + * @brief Initializes the class + */ void Initialize(); + /** + * @brief Turns the robot + */ void Execute(); + /** + * @brief Checks if the command is finished + * + * @return True only if the timeout was reached + */ bool IsFinished(); + /** + * @brief Sets the drivetrain to stop + */ void End(); + /** + * @brief Calls End() + */ void Interrupted(); }; #endif diff --git a/Commands/BinElevator/BinCloseArms.h b/Commands/BinElevator/BinCloseArms.h index b6322b9..b1fb9db 100644 --- a/Commands/BinElevator/BinCloseArms.h +++ b/Commands/BinElevator/BinCloseArms.h @@ -4,13 +4,38 @@ #include "Commands/Command.h" #include "WPILib.h" +/** + * @brief Closes BinElevatorArms (NOT USED) + * + * Sets the solenoid to close the arms of the BinElevator + */ class BinCloseArms: public Command{ public: + /** + * @brief Constructs BinCloseArms + */ BinCloseArms(); + /** + * @brief Initializes the class + */ void Initialize(); + /** + * @brief Sets the solenoid to close the arms + */ void Execute(); + /** + * @brief Returns true to prevent solenoid damage + * + * @return True + */ bool IsFinished(); + /** + * @brief Ends the command + */ void End(); + /** + * @brief Calls End() + */ void Interrupted(); }; diff --git a/Commands/BinElevator/BinLower.h b/Commands/BinElevator/BinLower.h index 49813b0..f9dcb24 100644 --- a/Commands/BinElevator/BinLower.h +++ b/Commands/BinElevator/BinLower.h @@ -4,15 +4,40 @@ #include "Commands/Command.h" #include "WPILib.h" +/** + * @brief Lowers the bin elevator until a timeout is reached + */ class BinLower: public Command{ private: float timeout; public: + /** + * @brief Constructs BinLower + * + * @param float Timeout in seconds + */ BinLower(float); + /** + * @brief Initializes the class + */ void Initialize(); + /** + * @brief Lowers the bin elevator at -1.0 power + */ void Execute(); + /** + * @brief Checks if the command is finished + * + * @return True only if the timeout was reached + */ bool IsFinished(); + /** + * @brief Sets the bin elevator to stop + */ void End(); + /** + * @brief Calls End() + */ void Interrupted(); }; #endif diff --git a/Commands/BinElevator/BinOpenArms.h b/Commands/BinElevator/BinOpenArms.h index 533d71c..4a9c86c 100644 --- a/Commands/BinElevator/BinOpenArms.h +++ b/Commands/BinElevator/BinOpenArms.h @@ -6,13 +6,32 @@ class BinOpenArms: public Command{ public: + /** + * @brief Constructs BinOpenArms + */ BinOpenArms(); + /** + * @brief Initializes the class + */ void Initialize(); + /** + * @brief Sets the solenoid to open the arms + */ void Execute(); + /** + * @brief Returns true to prevent solenoid damage + * + * @return True + */ bool IsFinished(); + /** + * @brief Ends the command + */ void End(); + /** + * @brief Calls End() + */ void Interrupted(); }; - #endif // vim: ts=2:sw=2:et diff --git a/Commands/BinElevator/BinRaise.h b/Commands/BinElevator/BinRaise.h index d173430..8eb6932 100644 --- a/Commands/BinElevator/BinRaise.h +++ b/Commands/BinElevator/BinRaise.h @@ -4,17 +4,41 @@ #include "Commands/Command.h" #include "WPILib.h" +/** + * @brief Raises the bin elevator until a timeout is reached + */ class BinRaise: public Command{ private: float timeout; public: + /** + * @brief Constructs BinRaise + * + * @param float Timeout in seconds + */ BinRaise(float); + /** + * @brief Initializes the class + */ void Initialize(); + /** + * @brief Raises the bin elevator at 1.0 power + */ void Execute(); + /** + * @brief Checks if the command is finished + * + * @return True only if the timeout was reached + */ bool IsFinished(); + /** + * @brief Sets the bin elevator to stop + */ void End(); + /** + * @brief Calls End() + */ void Interrupted(); }; - #endif // vim: ts=2:sw=2:et diff --git a/Commands/Collector/RollIn.h b/Commands/Collector/RollIn.h index 25e4924..9c65d76 100644 --- a/Commands/Collector/RollIn.h +++ b/Commands/Collector/RollIn.h @@ -6,17 +6,41 @@ #include "../../DentRobot.h" #include "WPILib.h" +/** + * @brief Rolls collector motors in until a timeout is reached + */ class RollIn: public Command{ private: double rawSpeed; public: + /** + * @brief Constructs RollIn + * + * @param double Timeout in seconds + */ RollIn(double); + /** + * @brief Initializes the class + */ void Initialize(); + /** + * @brief Rolls the four collector motors in + */ void Execute(); + /** + * @brief Checks if the command is finished + * + * @return True only if the timeout was reached + */ bool IsFinished(); + /** + * @brief Sets the collector to stop + */ void End(); + /** + * @brief Calls End() + */ void Interrupted(); }; - #endif // vim: ts=2:sw=2:et diff --git a/Commands/Collector/RollOut.h b/Commands/Collector/RollOut.h index 7143d07..33eab1d 100644 --- a/Commands/Collector/RollOut.h +++ b/Commands/Collector/RollOut.h @@ -6,15 +6,37 @@ #include "../../DentRobot.h" #include "WPILib.h" +/** + * @brief Rolls collector motors out until a timeout is reached + */ class RollOut: public Command{ public: + /** + * @brief Constructs RollOut + */ RollOut(); + /** + * @brief Initializes the class + */ void Initialize(); + /** + * @brief Rolls the four collector motors out + */ void Execute(); + /** + * @brief Checks if the command is finished + * + * @return True only if the timeout was reached + */ bool IsFinished(); + /** + * @brief Sets the collector to stop + */ void End(); + /** + * @brief Calls End() + */ void Interrupted(); }; - #endif // vim: ts=2:sw=2:et diff --git a/Commands/Drivetrain/Drive.h b/Commands/Drivetrain/Drive.h index 17e0ab8..cd45188 100644 --- a/Commands/Drivetrain/Drive.h +++ b/Commands/Drivetrain/Drive.h @@ -6,13 +6,38 @@ #include "../../DentRobot.h" #include "WPILib.h" +/** + * @brief Drives the robot with a joystick + * + * Uses mechanum drive + */ class Drive: public Command{ public: + /** + * @brief Constructs Drive + */ Drive(); + /** + * @brief Initializes the class + */ void Initialize(); + /** + * @brief Drives the robot with joysticks from OI + */ void Execute(); + /** + * @brief Checks if the command is finished + * + * @return False + */ bool IsFinished(); + /** + * @brief Ends the command + */ void End(); + /** + * @brief Calls End() + */ void Interrupted(); }; #endif diff --git a/Commands/Elevator/Lower.h b/Commands/Elevator/Lower.h index 92c8535..8478472 100644 --- a/Commands/Elevator/Lower.h +++ b/Commands/Elevator/Lower.h @@ -4,13 +4,36 @@ #include "Commands/Command.h" #include "WPILib.h" +/** + * @brief Lowers the elevator until a timeout is reached + */ class Lower: public Command{ public: + /** + * @brief Constructs Lower + */ Lower(); + /** + * @brief Initializes the class + */ void Initialize(); + /** + * @brief Lowers the elevator at -1.0 power + */ void Execute(); + /** + * @brief Checks if the command is finished + * + * @return True if the timeout was reached or if the bottom elevator sensor was triggered + */ bool IsFinished(); + /** + * @brief Sets the elevator to stop + */ void End(); + /** + * @brief Calls End() + */ void Interrupted(); }; #endif diff --git a/Commands/Elevator/Raise.h b/Commands/Elevator/Raise.h index b19f470..63cfc70 100644 --- a/Commands/Elevator/Raise.h +++ b/Commands/Elevator/Raise.h @@ -4,15 +4,37 @@ #include "Commands/Command.h" #include "WPILib.h" +/** + * @brief Raises the elevator until a timeout is reached + */ class Raise: public Command{ public: + /** + * @brief Constructs Raise + */ Raise(); + /** + * @brief Initializes the class + */ void Initialize(); + /** + * @brief Raises the elevator at 1.0 power + */ void Execute(); + /** + * @brief Checks if the command is finished + * + * @return True if the timeout was reached or if the top elevator was triggered or if the middle elevator is triggered + */ bool IsFinished(); + /** + * @brief Sets the elevator to stop + */ void End(); + /** + * @brief Calls End() + */ void Interrupted(); }; - #endif // vim: ts=2:sw=2:et diff --git a/Commands/Test/CheckDrive.h b/Commands/Test/CheckDrive.h index ec76d13..5993405 100644 --- a/Commands/Test/CheckDrive.h +++ b/Commands/Test/CheckDrive.h @@ -6,15 +6,40 @@ #include "../../DentRobot.h" #include "WPILib.h" +/** + * @brief TODO + */ class CheckDrive: public CommandGroup{ private: int motor; public: + /** + * @brief TODO + * + * @param int + */ CheckDrive(int); + /** + * @brief Initializes the class + */ void Initialize(); + /** + * @brief TODO + */ void Execute(); + /** + * @brief Checks if the command is finished + * + * @return TODO + */ bool IsFinished(); + /** + * @brief TODO + */ void End(); + /** + * @brief Calls End() + */ void Interrupted(); }; #endif diff --git a/Commands/Test/CheckRobot.h b/Commands/Test/CheckRobot.h index d0df68e..c12d6f6 100644 --- a/Commands/Test/CheckRobot.h +++ b/Commands/Test/CheckRobot.h @@ -6,8 +6,14 @@ #include "../../DentRobot.h" #include "WPILib.h" +/** + * @brief TODO + */ class CheckRobot: public CommandGroup{ public: + /** + * @brief TODO + */ CheckRobot(); }; #endif diff --git a/OI.h b/OI.h index 1214378..369ea2b 100644 --- a/OI.h +++ b/OI.h @@ -4,16 +4,45 @@ #include "WPILib.h" #include "Commands/Command.h" +/** + * @brief Controls the robot with joysticks + */ class OI { private: Joystick *leftStick, *rightStick; public: + /** + * @brief Constructs OI + */ OI(); - Command *raise, *lower, *binLower, *binRaise; + Command *raise, //!< Raise command + *lower, //!< Lower command + *binLower, //!< BinLower command + *binRaise; //!< BinRaise command + /** + * @brief Returns the right joystick + * + * @return The right joystick + */ Joystick* GetRightStick(); + /** + * @brief Returns the left joystick + * + * @return The left joystick + */ Joystick* GetLeftStick(); + /** + * @brief Returns the left joystick throttle + * + * @return The left joystick throttle + */ double GetLeftThrottle(); + /** + * @brief Returns the right joystick throttle + * + * @return The right joystick throttle + */ double GetRightThrottle(); }; #endif From 63e9adce86ea8a11c7ddf0acd330f346d28f66cd Mon Sep 17 00:00:00 2001 From: Austen Adler Date: Sun, 1 Mar 2015 17:23:23 -0500 Subject: [PATCH 08/43] Use doubles instead of floats (untested) --- Commands/BinElevator/BinLower.cpp | 2 +- Commands/BinElevator/BinLower.h | 4 ++-- Commands/BinElevator/BinRaise.cpp | 2 +- Commands/BinElevator/BinRaise.h | 4 ++-- Subsystems/Drivetrain.cpp | 4 ++-- Subsystems/Drivetrain.h | 6 +++--- 6 files changed, 11 insertions(+), 11 deletions(-) diff --git a/Commands/BinElevator/BinLower.cpp b/Commands/BinElevator/BinLower.cpp index ee2bc43..336e896 100644 --- a/Commands/BinElevator/BinLower.cpp +++ b/Commands/BinElevator/BinLower.cpp @@ -1,7 +1,7 @@ #include "BinLower.h" #include "../../DentRobot.h" #include "../../OI.h" -BinLower::BinLower(float t) : Command("BinLower"){ +BinLower::BinLower(double t) : Command("BinLower"){ timeout=t; } void BinLower::Initialize(){ diff --git a/Commands/BinElevator/BinLower.h b/Commands/BinElevator/BinLower.h index 49813b0..79e5286 100644 --- a/Commands/BinElevator/BinLower.h +++ b/Commands/BinElevator/BinLower.h @@ -6,9 +6,9 @@ class BinLower: public Command{ private: - float timeout; + double timeout; public: - BinLower(float); + BinLower(double); void Initialize(); void Execute(); bool IsFinished(); diff --git a/Commands/BinElevator/BinRaise.cpp b/Commands/BinElevator/BinRaise.cpp index 21f46f7..2b53e81 100644 --- a/Commands/BinElevator/BinRaise.cpp +++ b/Commands/BinElevator/BinRaise.cpp @@ -1,7 +1,7 @@ #include "BinRaise.h" #include "../../DentRobot.h" #include "../../OI.h" -BinRaise::BinRaise(float t) : Command("BinRaise"){ +BinRaise::BinRaise(double t) : Command("BinRaise"){ timeout=t; } void BinRaise::Initialize(){ diff --git a/Commands/BinElevator/BinRaise.h b/Commands/BinElevator/BinRaise.h index d173430..cdea982 100644 --- a/Commands/BinElevator/BinRaise.h +++ b/Commands/BinElevator/BinRaise.h @@ -6,9 +6,9 @@ class BinRaise: public Command{ private: - float timeout; + double timeout; public: - BinRaise(float); + BinRaise(double); void Initialize(); void Execute(); bool IsFinished(); diff --git a/Subsystems/Drivetrain.cpp b/Subsystems/Drivetrain.cpp index c56b463..2eff667 100644 --- a/Subsystems/Drivetrain.cpp +++ b/Subsystems/Drivetrain.cpp @@ -11,7 +11,7 @@ Drivetrain::Drivetrain() : Subsystem("Drivetrain"){ void Drivetrain::InitDefaultCommand(){ SetDefaultCommand(new Drive()); } -void Drivetrain::DriveMecanum(float x, float y, float z, float sensitivity, float gyro){ +void Drivetrain::DriveMecanum(double x, double y, double z, double sensitivity, double gyro){ double correctX = -(sensitivity*(pow(x, 3))+(1-sensitivity)*x); double correctY = -(sensitivity*(pow(y, 3))+(1-sensitivity)*y); double correctZ = -z * 0.5; @@ -25,7 +25,7 @@ void Drivetrain::DriveMecanum(float x, float y, float z, float sensitivity, floa } //Used in pretest -void Drivetrain::TestMotor(e_motors motor, float power){ +void Drivetrain::TestMotor(e_motors motor, double power){ switch(motor){ case FRONTRIGHT: rightFront->Set(power); diff --git a/Subsystems/Drivetrain.h b/Subsystems/Drivetrain.h index 4550de8..45fc325 100644 --- a/Subsystems/Drivetrain.h +++ b/Subsystems/Drivetrain.h @@ -15,9 +15,9 @@ class Drivetrain: public Subsystem{ BACKLEFT }; void InitDefaultCommand(); - void DriveMecanum(float, float, float, float, float); - void DriveArcade(float, float); - void TestMotor(e_motors, float); + void DriveMecanum(double, double, double, double, double); + void DriveArcade(double, double); + void TestMotor(e_motors, double); }; #endif // vim: ts=2:sw=2:et From c2d8ef3eea8b75232fe298e61d3a8c64e525376b Mon Sep 17 00:00:00 2001 From: Austen Adler Date: Mon, 2 Mar 2015 08:28:03 -0500 Subject: [PATCH 09/43] Continued working on documentation --- Commands/Autonomous/AutoDrive.h | 3 +- Commands/Autonomous/Turn.h | 1 - Commands/BinElevator/BinLower.h | 2 +- Commands/BinElevator/BinRaise.h | 2 +- Commands/Collector/RollIn.h | 2 +- Commands/Test/CheckDrive.h | 2 +- DentRobot.h | 53 +++++++++++++++++++++++++++++++++ Subsystems/Collector.h | 32 +++++++++++++++++++- 8 files changed, 90 insertions(+), 7 deletions(-) diff --git a/Commands/Autonomous/AutoDrive.h b/Commands/Autonomous/AutoDrive.h index 9ad5286..c204f57 100644 --- a/Commands/Autonomous/AutoDrive.h +++ b/Commands/Autonomous/AutoDrive.h @@ -13,7 +13,8 @@ */ class AutoDrive: public Command{ private: - double x, y; + double x, // Date: Thu, 5 Mar 2015 20:43:07 +0000 Subject: [PATCH 10/43] default values from the end of palmetto --- Commands/Autonomous/Autonomous.cpp | 1 + Commands/Collector/RollOut.cpp | 1 + DentRobot.cpp | 6 +++--- 3 files changed, 5 insertions(+), 3 deletions(-) diff --git a/Commands/Autonomous/Autonomous.cpp b/Commands/Autonomous/Autonomous.cpp index d3339a1..525820b 100644 --- a/Commands/Autonomous/Autonomous.cpp +++ b/Commands/Autonomous/Autonomous.cpp @@ -22,6 +22,7 @@ Autonomous::Autonomous(int seq){ // Drive to Auto Zone (TM) Wait(SmartDashboard::GetNumber("Auto Wait Time")); AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Zone Distance"), 0.0, -0.8)); + AddSequential(new Turn(SmartDashboard::GetNumber("TurnAmount"))); break; case 2: // Collect a tote, turn, drive to Auto Zone (TM) diff --git a/Commands/Collector/RollOut.cpp b/Commands/Collector/RollOut.cpp index d3f5150..ddfdf2a 100644 --- a/Commands/Collector/RollOut.cpp +++ b/Commands/Collector/RollOut.cpp @@ -9,6 +9,7 @@ void RollOut::Execute(){ //TODO check this value to move the motors in the right direction // Devide by 2 twice because this speed should be half the collector speed DentRobot::collector->MoveRollers(-DentRobot::oi->GetLeftThrottle() * 0.8); + SmartDashboard::PutNumber("DriveThrottle",-DentRobot::oi->GetLeftThrottle()); } bool RollOut::IsFinished(){ return IsTimedOut(); diff --git a/DentRobot.cpp b/DentRobot.cpp index 0bd011e..f6de3be 100644 --- a/DentRobot.cpp +++ b/DentRobot.cpp @@ -24,16 +24,16 @@ void DentRobot::RobotInit(){ SmartDashboard::PutNumber("CodeVersion", CODE_VERSION); // Autonomous // Sequence of autonomous command - SmartDashboard::PutNumber("Auto Sequence", 2.0); + SmartDashboard::PutNumber("Auto Sequence", 1.0); SmartDashboard::PutNumber("Auto Wait Time", 3.0); // If the robot will be picking up three totes in sequence 3 SmartDashboard::PutBoolean("Three totes", true); // TODO: Calibrate the following two values // Distance (in time) to auto zone - SmartDashboard::PutNumber("Auto Zone Distance", 2.8); + SmartDashboard::PutNumber("Auto Zone Distance", 2.1); // Distance (in time) to auto tote (used in sequence 3) SmartDashboard::PutNumber("Auto Tote Distance", 0.5); - SmartDashboard::PutNumber("TurnAmount", 2.0); + SmartDashboard::PutNumber("TurnAmount", 1.8); // Elevators SmartDashboard::PutBoolean("Bin Elevator Bottom", false); From 136a28994e10a7efb011fd7d8a909757c96dff02 Mon Sep 17 00:00:00 2001 From: Austen Adler Date: Thu, 5 Mar 2015 20:07:52 -0500 Subject: [PATCH 11/43] Added more autonomous modes (untested). Changed default autonomous timeout to 0.0s from 3.0s --- Commands/Autonomous/Autonomous.cpp | 43 ++++++++++++++++++++++-------- DentRobot.cpp | 6 +++-- 2 files changed, 36 insertions(+), 13 deletions(-) diff --git a/Commands/Autonomous/Autonomous.cpp b/Commands/Autonomous/Autonomous.cpp index d3339a1..e8f52cd 100644 --- a/Commands/Autonomous/Autonomous.cpp +++ b/Commands/Autonomous/Autonomous.cpp @@ -24,7 +24,16 @@ Autonomous::Autonomous(int seq){ AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Zone Distance"), 0.0, -0.8)); break; case 2: - // Collect a tote, turn, drive to Auto Zone (TM) + // Lower BinElevator, collect bin, turn, drive to AutoZone (TM) + AddSequential(new BinLower(0.5)); + AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Bin Distance"), 0, 0.75)); + AddSequential(new BinRaise(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"))); + break; + case 3: + // Collect a tote with BinElevator, turn, drive to Auto Zone (TM) Wait(SmartDashboard::GetNumber("Auto Wait Time")); AddSequential(new Turn(SmartDashboard::GetNumber("TurnAmount"))); AddSequential(new BinRaise(1.2)); @@ -32,29 +41,41 @@ Autonomous::Autonomous(int seq){ AddSequential(new BinLower(1.0)); AddSequential(new Turn(SmartDashboard::GetNumber("TurnAmount"))); break; - case 3: - // Collect three totes, drive to Auto Zone (TM) + case 4: + // Collect one, two, or three totes, drive to Auto Zone (TM) printf("Waiting: %f\n", SmartDashboard::GetNumber("Auto Wait Time")); Wait(SmartDashboard::GetNumber("Auto Wait Time")); printf("Done"); - AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Tote Distance"), 0, 0.75)); AddSequential(new CollectTote()); - AddSequential(new Raise()); - AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Tote Distance"), 0, 0.75)); - AddSequential(new CollectTote()); - AddSequential(new Lower()); - AddSequential(new Raise()); - printf("Three totes?: %d\n", SmartDashboard::GetBoolean("Three totes")); - if(SmartDashboard::GetBoolean("Three totes")){ + if(SmartDashboard::GetBoolean("Two totes")){ + AddSequential(new Raise()); AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Tote Distance"), 0, 0.75)); AddSequential(new CollectTote()); AddSequential(new Lower()); AddSequential(new Raise()); + if(SmartDashboard::GetBoolean("Three totes")){ + AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Tote Distance"), 0, 0.75)); + AddSequential(new CollectTote()); + AddSequential(new Lower()); + AddSequential(new Raise()); + } } AddSequential(new Turn(SmartDashboard::GetNumber("TurnAmount"))); AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Zone Distance"), 0, 0.75)); AddSequential(new ReleaseTote()); break; + case 5: + // Same as auto 4, but navigate around bins + //TODO: Implement this + break; + case 6: + // Collect 1 bin and 1 tote + //TODO: Implement this + break; + case 7: + // Same as auto 4 with (Three|Two) totes checked, collect bin, drive to Auto Zone (TM) + //TODO: Implement this + break; default: printf("Invalid seq: %d\n", seq); break; diff --git a/DentRobot.cpp b/DentRobot.cpp index 0bd011e..69632fc 100644 --- a/DentRobot.cpp +++ b/DentRobot.cpp @@ -25,14 +25,16 @@ void DentRobot::RobotInit(){ // Autonomous // Sequence of autonomous command SmartDashboard::PutNumber("Auto Sequence", 2.0); - SmartDashboard::PutNumber("Auto Wait Time", 3.0); + SmartDashboard::PutNumber("Auto Wait Time", 0.0); // If the robot will be picking up three totes in sequence 3 - SmartDashboard::PutBoolean("Three totes", true); + SmartDashboard::PutBoolean("Two totes", true); + SmartDashboard::PutBoolean("Three totes", false); // TODO: Calibrate the following two values // Distance (in time) to auto zone SmartDashboard::PutNumber("Auto Zone Distance", 2.8); // Distance (in time) to auto tote (used in sequence 3) SmartDashboard::PutNumber("Auto Tote Distance", 0.5); + SmartDashboard::PutNumber("Auto Bin Distance", 0.25); SmartDashboard::PutNumber("TurnAmount", 2.0); // Elevators From 2e069a5caddac0302a37b5f05c07541bfe3406c7 Mon Sep 17 00:00:00 2001 From: Austen Adler Date: Thu, 5 Mar 2015 20:33:18 -0500 Subject: [PATCH 12/43] Eject totes after auto sequence 4 and 7 --- Commands/Autonomous/Autonomous.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/Commands/Autonomous/Autonomous.cpp b/Commands/Autonomous/Autonomous.cpp index e8f52cd..b1dc4e0 100644 --- a/Commands/Autonomous/Autonomous.cpp +++ b/Commands/Autonomous/Autonomous.cpp @@ -42,7 +42,7 @@ Autonomous::Autonomous(int seq){ AddSequential(new Turn(SmartDashboard::GetNumber("TurnAmount"))); break; case 4: - // Collect one, two, or three totes, drive to Auto Zone (TM) + // Collect one, two, or three totes, drive to Auto Zone (TM), release totes printf("Waiting: %f\n", SmartDashboard::GetNumber("Auto Wait Time")); Wait(SmartDashboard::GetNumber("Auto Wait Time")); printf("Done"); @@ -73,7 +73,7 @@ Autonomous::Autonomous(int seq){ //TODO: Implement this break; case 7: - // Same as auto 4 with (Three|Two) totes checked, collect bin, drive to Auto Zone (TM) + // Same as auto 4 with (Three|Two) totes checked, collect bin, drive to Auto Zone (TM), release totes //TODO: Implement this break; default: From ae01617e169188eea46e1efae4d000a244d346f2 Mon Sep 17 00:00:00 2001 From: Austen Adler Date: Fri, 6 Mar 2015 21:38:41 -0500 Subject: [PATCH 13/43] Fixed readme --- README.md | 85 +++++++++++++++++++++++++++++++++++++++++-------------- 1 file changed, 64 insertions(+), 21 deletions(-) diff --git a/README.md b/README.md index f7b8d0f..dd04a12 100644 --- a/README.md +++ b/README.md @@ -1,29 +1,72 @@ # Dent +[The Hitchhikers](http://team2059.org) 2015 robot -Dent was designed to have a fast mecanum [drivetrain](Subsystems/Drivetrain.cpp) with ground clearance to traverse the scoring platforms with ease—all while carrying a stack of totes. A main [internal elevator](Subsystems/Elevator.cpp) lifts totes up to six high within the robot, allowing us to move quickly to anywhere on the field without tipping. The [intake system](Subsystems/Collector.cpp) features a ramp leading to the floor with an active roller pulling the totes up to two collector wheels on either side of the robot, both pulling the totes in, and centering them simultaneously. +### Features +#### Subsystems ++ [Mecanum drivetrain](Subsystems/Drivetrain.cpp) ++ [Collector](Subsystems/Collector.cpp) to collect totes in main elevator ++ [Internal elevator](Subsystems/Elevator.cpp) for totes ++ [External elevator](Subsystems/BinElevator.cpp) for bins or totes ++ [Pneumatics](Subsystems/Pneumatics.cpp) for opening/closing bin elevator arms (unused) -But Dent does not stop there; a [taller elevator](Subsystems/BinElevator.cpp) on the back of the robot allows us to lift either recycle containers or totes to a greater height. With this, we can create stacks both internally and externally, with each system providing a backup of the other in case anything breaks. +#### Sensors ++ [Ultrasonic](Subsystems/Collector.cpp#L9) to check if a tote is in the robot (unused) ++ [hall effect sensors](Subsystems/Elevator.cpp#L6-L8) to check the elevator's position -Dent is programmed in C++ and uses many sensors to determine what to do. An [ultrasonic sensor](Subsystems/Collector.cpp#L9) mounted on the back of the robot looking forward automatically slows down the collector wheels as the totes fly into the internal elevator. Homemade [hall effect sensors](Subsystems/Elevator.cpp#L6-L8) line the elevator shafts of both elevators, allowing the driver to raise totes and containers to pre-programmed heights. +#### Automated Commands ++ [AutoDrive](Commands/Autonomous/AutoDrive.cpp) to drive forward without a joystick ++ [CollectTote](Commands/Autonomous/CollectTote.cpp) to drive forwards and roll in collectors in parallel ++ [ReleaseTote](Commands/Autonomous/ReleaseTote.cpp) to drive backwards and roll out collectors in parallel ++ [Turn](Commands/Autonomous/Turn.cpp) to turn the robot -All aspects of Dent’s design come together to produce a robot ready to rank in qualifications, and still provide a fast and capable design for elimination rounds. With all parts made an code written for Dent in-house, this truly is a robot designed by, built by, and programmed by the students on Team 2059, [The Hitchhikers](http://team2059.org/). +### Running the code +#### Setup (for Linux) ++ Make sure you have the [toolchain](http://first.wpi.edu/FRC/roborio/toolchains/) installed ++ Edit the path of WPILib and the REMOTEIP on the Makefile ++ Run `make putkey` to put the public key on the rrio for faster deploying (optional) +#### Building ++ Run `make && make deploy` ++ Run `ssh admin@rrio-ip.local '/home/lvuser/FRCUserProgram'` to execute the program -### Controls -##### Driver Main Joystick (USB 0) -- X-Axis - Drive forwards and backwards -- Y-Axis - Strafes left and right -- Z-Axis - Turns left and right -- Throttle-Axis - Adjusts collector speed -- Button 1 - Collects totes -- Button 2 - Dispenses totes -- Button 7 - Enable robot test +### Usage +##### Left Joystick (USB 0) ++ X-Axis - Drive forwards and backwards ++ Y-Axis - Strafes left and right ++ Z-Axis - Turns left and right ++ Throttle - Adjusts collector speed ++ Button 1 - Collect totes ++ Button 2 - Eject totes ++ Button 7 - Check robot -##### Driver Secondary Joystick (USB 1) -- Button 3 - Lowers bin elevator -- Button 4 - Lowers tote elevator -- Button 5 - Raises bin elevator -- Button 6 - Raises tote elevator -- Button 7 - Opens bin arms -- Button 8 - Closes bin arms -- Button 12 - Universal cancel button \ No newline at end of file +##### Right Joystick (USB 1) ++ Button 3 - Lowers bin elevator ++ Button 4 - Lowers main elevator ++ Button 5 - Raises bin elevator ++ Button 6 - Raises main elevator ++ Button 7 - Opens bin arms (unused) ++ Button 8 - Closes bin arms (unused) ++ Button 12 - Cancel raising and lowering for both elevators + +#### Dashboard ++ CodeVersion - The current version of the code ++ Auto Wait Time - The amount of time to wait for any autonomous to run (default: 2.0) ++ Two totes - Collect a second tote if using Auto Sequence 4 or 5 (default: true) ++ Three totes - Collect a third tote if using Auto Sequence 4 or 5 (default: false) ++ Auto Zone Distance - Amount of time in seconds to drive to the auto zone (default: 2.1) ++ Auto Tote Distance - Amount of time in seconds to drive to a second or third tote if using Auto Sequence 4, 5, or 7 (default: 0.5) ++ Auto Bin Distance - Amount of time in seconds to drive to a bin if using Auto Sequence 6 or 7 (default: 0.5) ++ TurnAmount - Amount of time in seconds to turn the robot (default: 1.8) ++ Bin Elevator Bottom - Status of the bottom bin elevator sensor (unused) ++ Bin Elevator Top - Status of the top bin elevator sensor (unused) ++ Elevator Bottom - Status of the bottom elevator sensor ++ Elevator Top - Status of the top elevator sensor ++ DriveSpeedReductionThresh - Maximum y value of the joystick when driving ++ Auto Sequence - The sequence of autonomous to run + 1. Drive to auto zone, turn + 2. Lower BinElevator, collect bin, turn, drive to AutoZone, turn + 3. Raise BinElevator, turn, drive to AutoZone, turn + 4. Collect 1, 2, or 3 totes, turn, drive to AutoZone, turn + 5. Same as auto 4, but navigate around bins (not implemented) + 6. Collect 1 bin then 1 tote (not implemented) + 7. Collect 3 totes, collect bin, drive to AutoZone (not implemented) From 30bd1d8dde4481c16c3a2fd3e3ecf7feebb42e34 Mon Sep 17 00:00:00 2001 From: Carl Colglazier Date: Fri, 6 Mar 2015 22:27:05 -0500 Subject: [PATCH 14/43] Fix #3 --- README.md | 17 ++++++++++------- 1 file changed, 10 insertions(+), 7 deletions(-) diff --git a/README.md b/README.md index dd04a12..0e5c744 100644 --- a/README.md +++ b/README.md @@ -63,10 +63,13 @@ + Elevator Top - Status of the top elevator sensor + DriveSpeedReductionThresh - Maximum y value of the joystick when driving + Auto Sequence - The sequence of autonomous to run - 1. Drive to auto zone, turn - 2. Lower BinElevator, collect bin, turn, drive to AutoZone, turn - 3. Raise BinElevator, turn, drive to AutoZone, turn - 4. Collect 1, 2, or 3 totes, turn, drive to AutoZone, turn - 5. Same as auto 4, but navigate around bins (not implemented) - 6. Collect 1 bin then 1 tote (not implemented) - 7. Collect 3 totes, collect bin, drive to AutoZone (not implemented) + +##### Auto + +1. Drive to auto zone, turn +2. Lower BinElevator, collect bin, turn, drive to AutoZone, turn +3. Raise BinElevator, turn, drive to AutoZone, turn +4. Collect 1, 2, or 3 totes, turn, drive to AutoZone, turn +5. Same as auto 4, but navigate around bins (not implemented) +6. Collect 1 bin then 1 tote (not implemented) +7. Collect 3 totes, collect bin, drive to AutoZone (not implemented) From 110f064f80ddcf233621f3ce618d651c326ec52c Mon Sep 17 00:00:00 2001 From: Austen Adler Date: Fri, 6 Mar 2015 23:03:01 -0500 Subject: [PATCH 15/43] Consistency update --- README.md | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/README.md b/README.md index 0e5c744..99f5d22 100644 --- a/README.md +++ b/README.md @@ -30,7 +30,7 @@ + Run `ssh admin@rrio-ip.local '/home/lvuser/FRCUserProgram'` to execute the program ### Usage -##### Left Joystick (USB 0) +#### Left Joystick (USB 0) + X-Axis - Drive forwards and backwards + Y-Axis - Strafes left and right + Z-Axis - Turns left and right @@ -39,7 +39,7 @@ + Button 2 - Eject totes + Button 7 - Check robot -##### Right Joystick (USB 1) +#### Right Joystick (USB 1) + Button 3 - Lowers bin elevator + Button 4 - Lowers main elevator + Button 5 - Raises bin elevator @@ -48,7 +48,8 @@ + Button 8 - Closes bin arms (unused) + Button 12 - Cancel raising and lowering for both elevators -#### Dashboard +### Dashboard +#### Configuration + CodeVersion - The current version of the code + Auto Wait Time - The amount of time to wait for any autonomous to run (default: 2.0) + Two totes - Collect a second tote if using Auto Sequence 4 or 5 (default: true) @@ -64,8 +65,7 @@ + DriveSpeedReductionThresh - Maximum y value of the joystick when driving + Auto Sequence - The sequence of autonomous to run -##### Auto - +#### Autonomous 1. Drive to auto zone, turn 2. Lower BinElevator, collect bin, turn, drive to AutoZone, turn 3. Raise BinElevator, turn, drive to AutoZone, turn From 7476f4f5d4798d61de443bde9aefcbc6a6ee8e39 Mon Sep 17 00:00:00 2001 From: Austen Adler Date: Sat, 7 Mar 2015 13:27:11 -0500 Subject: [PATCH 16/43] Constructor consistency update --- Commands/Autonomous/AutoDrive.cpp | 2 +- Commands/Autonomous/AutoDrive.h | 3 +-- Commands/Autonomous/Turn.cpp | 5 ++--- Commands/BinElevator/BinCloseArms.cpp | 4 ++-- Commands/BinElevator/BinCloseArms.h | 2 +- Commands/BinElevator/BinLower.cpp | 5 ++--- Commands/BinElevator/BinLower.h | 1 - Commands/BinElevator/BinOpenArms.cpp | 4 ++-- Commands/BinElevator/BinOpenArms.h | 2 +- Commands/BinElevator/BinRaise.cpp | 5 ++--- Commands/BinElevator/BinRaise.h | 1 - Commands/Collector/RollIn.cpp | 4 ++-- Commands/Collector/RollIn.h | 1 + Commands/Collector/RollOut.cpp | 4 ++-- Commands/Collector/RollOut.h | 2 +- Commands/Drivetrain/Drive.cpp | 2 +- Commands/Elevator/Lower.cpp | 4 ++-- Commands/Elevator/Lower.h | 2 +- Commands/Elevator/Raise.cpp | 4 ++-- Commands/Elevator/Raise.h | 2 +- 20 files changed, 27 insertions(+), 32 deletions(-) diff --git a/Commands/Autonomous/AutoDrive.cpp b/Commands/Autonomous/AutoDrive.cpp index ba14f03..4f8dea5 100644 --- a/Commands/Autonomous/AutoDrive.cpp +++ b/Commands/Autonomous/AutoDrive.cpp @@ -1,7 +1,7 @@ #include "AutoDrive.h" #include "../../DentRobot.h" // Drive for a short while then stop. Just for testing -AutoDrive::AutoDrive(double duration, double xtmp=0, double ytmp=-0.75) : Command("AutoDrive"){ +AutoDrive::AutoDrive(double duration, double xtmp, double ytmp) : Command("AutoDrive"){ Requires(DentRobot::drivetrain); SetTimeout(duration); x=xtmp; diff --git a/Commands/Autonomous/AutoDrive.h b/Commands/Autonomous/AutoDrive.h index 6fa66ef..fd0c5e3 100644 --- a/Commands/Autonomous/AutoDrive.h +++ b/Commands/Autonomous/AutoDrive.h @@ -10,8 +10,7 @@ class AutoDrive: public Command{ private: double x, y; public: - AutoDrive(double); - AutoDrive(double, double, double); + AutoDrive(double duration, double xtmp = 0.0, double ytmp = -0.75); void Initialize(); void Execute(); bool IsFinished(); diff --git a/Commands/Autonomous/Turn.cpp b/Commands/Autonomous/Turn.cpp index 848cc6e..d9a68d7 100644 --- a/Commands/Autonomous/Turn.cpp +++ b/Commands/Autonomous/Turn.cpp @@ -1,9 +1,8 @@ #include "Turn.h" #include "../../DentRobot.h" -// Drive for a short while then stop. Just for testing -Turn::Turn(double k) : Command("Turn"){ +Turn::Turn(double timeout) : Command("Turn"){ Requires(DentRobot::drivetrain); - SetTimeout(k); + SetTimeout(timeout); } void Turn::Initialize(){ } diff --git a/Commands/BinElevator/BinCloseArms.cpp b/Commands/BinElevator/BinCloseArms.cpp index 37a4534..f16cab0 100644 --- a/Commands/BinElevator/BinCloseArms.cpp +++ b/Commands/BinElevator/BinCloseArms.cpp @@ -1,10 +1,10 @@ #include "BinCloseArms.h" #include "../../DentRobot.h" #include "../../OI.h" -BinCloseArms::BinCloseArms() : Command("BinCloseArms"){ +BinCloseArms::BinCloseArms(double timeout) : Command("BinCloseArms"){ + SetTimeout(timeout); } void BinCloseArms::Initialize(){ - SetTimeout(0.5); } void BinCloseArms::Execute(){ DentRobot::pneumatics->SetOpen(false); diff --git a/Commands/BinElevator/BinCloseArms.h b/Commands/BinElevator/BinCloseArms.h index b6322b9..2eee806 100644 --- a/Commands/BinElevator/BinCloseArms.h +++ b/Commands/BinElevator/BinCloseArms.h @@ -6,7 +6,7 @@ class BinCloseArms: public Command{ public: - BinCloseArms(); + BinCloseArms(double timeout = 0.5); void Initialize(); void Execute(); bool IsFinished(); diff --git a/Commands/BinElevator/BinLower.cpp b/Commands/BinElevator/BinLower.cpp index 336e896..cdb659e 100644 --- a/Commands/BinElevator/BinLower.cpp +++ b/Commands/BinElevator/BinLower.cpp @@ -1,11 +1,10 @@ #include "BinLower.h" #include "../../DentRobot.h" #include "../../OI.h" -BinLower::BinLower(double t) : Command("BinLower"){ - timeout=t; +BinLower::BinLower(double timeout) : Command("BinLower"){ + SetTimeout(timeout); } void BinLower::Initialize(){ - SetTimeout(timeout); } void BinLower::Execute(){ DentRobot::binElevator->Run(-1.0); diff --git a/Commands/BinElevator/BinLower.h b/Commands/BinElevator/BinLower.h index 79e5286..4d97be5 100644 --- a/Commands/BinElevator/BinLower.h +++ b/Commands/BinElevator/BinLower.h @@ -6,7 +6,6 @@ class BinLower: public Command{ private: - double timeout; public: BinLower(double); void Initialize(); diff --git a/Commands/BinElevator/BinOpenArms.cpp b/Commands/BinElevator/BinOpenArms.cpp index 2a415d3..694f357 100644 --- a/Commands/BinElevator/BinOpenArms.cpp +++ b/Commands/BinElevator/BinOpenArms.cpp @@ -1,10 +1,10 @@ #include "BinOpenArms.h" #include "../../DentRobot.h" #include "../../OI.h" -BinOpenArms::BinOpenArms() : Command("BinOpenArms"){ +BinOpenArms::BinOpenArms(double timeout) : Command("BinOpenArms"){ + SetTimeout(timeout); } void BinOpenArms::Initialize(){ - SetTimeout(0.5); } void BinOpenArms::Execute(){ DentRobot::pneumatics->SetOpen(true); diff --git a/Commands/BinElevator/BinOpenArms.h b/Commands/BinElevator/BinOpenArms.h index 533d71c..1e3fde0 100644 --- a/Commands/BinElevator/BinOpenArms.h +++ b/Commands/BinElevator/BinOpenArms.h @@ -6,7 +6,7 @@ class BinOpenArms: public Command{ public: - BinOpenArms(); + BinOpenArms(double); void Initialize(); void Execute(); bool IsFinished(); diff --git a/Commands/BinElevator/BinRaise.cpp b/Commands/BinElevator/BinRaise.cpp index 2b53e81..8ac189f 100644 --- a/Commands/BinElevator/BinRaise.cpp +++ b/Commands/BinElevator/BinRaise.cpp @@ -1,11 +1,10 @@ #include "BinRaise.h" #include "../../DentRobot.h" #include "../../OI.h" -BinRaise::BinRaise(double t) : Command("BinRaise"){ - timeout=t; +BinRaise::BinRaise(double timeout) : Command("BinRaise"){ + SetTimeout(timeout); } void BinRaise::Initialize(){ - SetTimeout(timeout); } void BinRaise::Execute(){ DentRobot::binElevator->Run(1.0); diff --git a/Commands/BinElevator/BinRaise.h b/Commands/BinElevator/BinRaise.h index cdea982..344519b 100644 --- a/Commands/BinElevator/BinRaise.h +++ b/Commands/BinElevator/BinRaise.h @@ -6,7 +6,6 @@ class BinRaise: public Command{ private: - double timeout; public: BinRaise(double); void Initialize(); diff --git a/Commands/Collector/RollIn.cpp b/Commands/Collector/RollIn.cpp index 4d3e7c3..87ec0f9 100644 --- a/Commands/Collector/RollIn.cpp +++ b/Commands/Collector/RollIn.cpp @@ -1,6 +1,6 @@ #include "RollIn.h" -RollIn::RollIn(double k) : Command("RollIn"){ - rawSpeed=k; +RollIn::RollIn(double speed) : Command("RollIn"){ + rawSpeed=speed; } void RollIn::Initialize(){ printf("Initialized RollIn\n"); diff --git a/Commands/Collector/RollIn.h b/Commands/Collector/RollIn.h index 25e4924..90ec585 100644 --- a/Commands/Collector/RollIn.h +++ b/Commands/Collector/RollIn.h @@ -10,6 +10,7 @@ class RollIn: public Command{ private: double rawSpeed; public: + RollIn(); RollIn(double); void Initialize(); void Execute(); diff --git a/Commands/Collector/RollOut.cpp b/Commands/Collector/RollOut.cpp index ddfdf2a..eb07ad6 100644 --- a/Commands/Collector/RollOut.cpp +++ b/Commands/Collector/RollOut.cpp @@ -1,9 +1,9 @@ #include "RollOut.h" -RollOut::RollOut() : Command("RollOut"){ +RollOut::RollOut(double timeout) : Command("RollOut"){ Requires(DentRobot::collector); + SetTimeout(timeout); } void RollOut::Initialize(){ - SetTimeout(2.0); } void RollOut::Execute(){ //TODO check this value to move the motors in the right direction diff --git a/Commands/Collector/RollOut.h b/Commands/Collector/RollOut.h index 7143d07..eeb921e 100644 --- a/Commands/Collector/RollOut.h +++ b/Commands/Collector/RollOut.h @@ -8,7 +8,7 @@ class RollOut: public Command{ public: - RollOut(); + RollOut(double timeout = 2.0); void Initialize(); void Execute(); bool IsFinished(); diff --git a/Commands/Drivetrain/Drive.cpp b/Commands/Drivetrain/Drive.cpp index 553302f..4354717 100644 --- a/Commands/Drivetrain/Drive.cpp +++ b/Commands/Drivetrain/Drive.cpp @@ -10,7 +10,7 @@ void Drive::Execute(){ x = DentRobot::oi->GetLeftStick()->GetRawAxis(0); y = -DentRobot::oi->GetLeftStick()->GetRawAxis(1); z = DentRobot::oi->GetLeftStick()->GetRawAxis(2); - //Code to lock the x axis when not holding button 1 + // Lock the x axis when not holding button 1 //if (DentRobot::oi->GetLeftStick()->GetRawButton(1)){ // x=0; //} diff --git a/Commands/Elevator/Lower.cpp b/Commands/Elevator/Lower.cpp index 637a88b..3b11e4f 100644 --- a/Commands/Elevator/Lower.cpp +++ b/Commands/Elevator/Lower.cpp @@ -1,10 +1,10 @@ #include "Lower.h" #include "../../DentRobot.h" #include "../../OI.h" -Lower::Lower() : Command("Lower"){ +Lower::Lower(double timeout) : Command("Lower"){ + SetTimeout(timeout); } void Lower::Initialize(){ - SetTimeout(3.0); } void Lower::Execute(){ DentRobot::elevator->Run(-1.0); diff --git a/Commands/Elevator/Lower.h b/Commands/Elevator/Lower.h index 92c8535..ec0188a 100644 --- a/Commands/Elevator/Lower.h +++ b/Commands/Elevator/Lower.h @@ -6,7 +6,7 @@ class Lower: public Command{ public: - Lower(); + Lower(double timeout=3.0); void Initialize(); void Execute(); bool IsFinished(); diff --git a/Commands/Elevator/Raise.cpp b/Commands/Elevator/Raise.cpp index ce42ab8..48286c7 100644 --- a/Commands/Elevator/Raise.cpp +++ b/Commands/Elevator/Raise.cpp @@ -1,10 +1,10 @@ #include "Raise.h" #include "../../DentRobot.h" #include "../../OI.h" -Raise::Raise() : Command("Raise"){ +Raise::Raise(double timeout) : Command("Raise"){ + SetTimeout(timeout); } void Raise::Initialize(){ - SetTimeout(3.5); } void Raise::Execute(){ DentRobot::elevator->Run(1.0); diff --git a/Commands/Elevator/Raise.h b/Commands/Elevator/Raise.h index b19f470..76a0ef4 100644 --- a/Commands/Elevator/Raise.h +++ b/Commands/Elevator/Raise.h @@ -6,7 +6,7 @@ class Raise: public Command{ public: - Raise(); + Raise(double timeout=3.5); void Initialize(); void Execute(); bool IsFinished(); From c3dc38f232d9d3bd0bad49110c4248cd489515fb Mon Sep 17 00:00:00 2001 From: Austen Adler Date: Sat, 7 Mar 2015 14:23:02 -0500 Subject: [PATCH 17/43] No errors when running make cean --- Makefile | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Makefile b/Makefile index 56d6863..9104f81 100644 --- a/Makefile +++ b/Makefile @@ -6,7 +6,7 @@ SOURCES=$(shell find -type f -name "*.cpp") OBJECTS=$(SOURCES:.cpp=.o) WPILIB=/var/frc/wpilib EXEC=bin/FRCUserProgram -CLEANSER=rm -r +CLEANSER=rm -f all : $(OBJECTS) if [ ! -d bin ];then mkdir bin; fi From 5663ba3fecd621fc56662e8bd4bab56c8b087f45 Mon Sep 17 00:00:00 2001 From: Carl Colglazier Date: Sun, 8 Mar 2015 21:27:33 -0400 Subject: [PATCH 18/43] Fix slight style issues to meet current standards. --- CommandBase.cpp | 4 ++-- CommandBase.h | 2 +- DentRobot.h | 2 +- OI.h | 3 +-- Subsystems/Collector.h | 3 +-- Subsystems/Pneumatics.h | 3 +-- 6 files changed, 7 insertions(+), 10 deletions(-) diff --git a/CommandBase.cpp b/CommandBase.cpp index ef64dae..bb92223 100644 --- a/CommandBase.cpp +++ b/CommandBase.cpp @@ -10,9 +10,9 @@ Elevator* CommandBase::elevator = NULL; BinElevator* CommandBase::binElevator = NULL; Pneumatics* CommandBase::pneumatics=NULL; OI* CommandBase::oi = NULL; -CommandBase::CommandBase(char const *name) : Command(name) { +CommandBase::CommandBase(char const *name) : Command(name){ } -CommandBase::CommandBase() : Command() { +CommandBase::CommandBase() : Command(){ } void CommandBase::init(){ drivetrain = new Drivetrain(); diff --git a/CommandBase.h b/CommandBase.h index cb7453b..d0a855f 100644 --- a/CommandBase.h +++ b/CommandBase.h @@ -10,7 +10,7 @@ #include "OI.h" #include "WPILib.h" -class CommandBase: public Command { +class CommandBase: public Command{ public: CommandBase(char const *name); CommandBase(); diff --git a/DentRobot.h b/DentRobot.h index 4c859f9..6f7f61d 100644 --- a/DentRobot.h +++ b/DentRobot.h @@ -13,7 +13,7 @@ * * Features a 4-motor collector, 4-motor mecanum drivetrain, two one-motor elevators */ -class DentRobot: public IterativeRobot { +class DentRobot: public IterativeRobot{ private: /** * @brief The default driving command diff --git a/OI.h b/OI.h index 369ea2b..13fb16a 100644 --- a/OI.h +++ b/OI.h @@ -7,8 +7,7 @@ /** * @brief Controls the robot with joysticks */ -class OI -{ +class OI{ private: Joystick *leftStick, *rightStick; public: diff --git a/Subsystems/Collector.h b/Subsystems/Collector.h index ccf3700..a40eafb 100644 --- a/Subsystems/Collector.h +++ b/Subsystems/Collector.h @@ -7,8 +7,7 @@ * * Uses four motors, two on the sides, one on the bottom, and one on the ramp to collect and eject totes */ -class Collector: public Subsystem -{ +class Collector: public Subsystem{ private: CANTalon *collectorMotorLeft, // Date: Mon, 9 Mar 2015 07:03:18 -0400 Subject: [PATCH 19/43] Makefile improvements (untested) --- Makefile | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/Makefile b/Makefile index 9104f81..2e8db02 100644 --- a/Makefile +++ b/Makefile @@ -19,10 +19,10 @@ clean: $(CLEANSER) $(OBJECTS) bin/FRCUserProgram deploy: - @cat bin/FRCUserProgram | ssh admin@$(REMOTEIP) 'cat > /home/lvuser/FRCUserProgram2&&rm /home/lvuser/FRCUserProgram;mv /home/lvuser/FRCUserProgram2 /home/lvuser/FRCUserProgram&&. /etc/profile.d/natinst-path.sh;chmod a+x /home/lvuser/FRCUserProgram' + @cat bin/FRCUserProgram | ssh admin@$(REMOTEIP) '(rm /home/lvuser/FRCUserProgram) /home/lvuser/FRCUserProgram;chmod a+x /home/lvuser/FRCUserProgram' debug: - @cat bin/FRCUserProgram | ssh admin@$(REMOTEIP) 'cat > /home/lvuser/FRCUserProgram2&&rm /home/lvuser/FRCUserProgram;mv /home/lvuser/FRCUserProgram2 /home/lvuser/FRCUserProgram&&. /etc/profile.d/natinst-path.sh;chmod a+x /home/lvuser/FRCUserProgram;/home/lvuser/run.sh' + @cat bin/FRCUserProgram | ssh admin@$(REMOTEIP) '(rm /home/lvuser/FRCUserProgram) /home/lvuser/FRCUserProgram;chmod a+x /home/lvuser/FRCUserProgram;/home/lvuser/run.sh' putkey: @test -d ~/.ssh||mkdir ~/.ssh;test -f ~/.ssh/id_rsa||ssh-keygen -t rsa -f ~/.ssh/id_rsa -b 4096 -q -N '';cat ~/.ssh/id_rsa.pub|ssh -v admin@$(REMOTEIP) 'cat >> /tmp/key;mkdir -p ~/.ssh;cat /tmp/key >> ~/.ssh/authorized_keys;rm /tmp/key' From f71320949da56fe0d935f3c3c26a27aee4e0ca99 Mon Sep 17 00:00:00 2001 From: Austen Adler Date: Mon, 9 Mar 2015 07:25:11 -0400 Subject: [PATCH 20/43] More formatting improvements --- CommandBase.cpp | 4 ++-- Commands/Autonomous/AutoDrive.cpp | 2 +- Commands/Autonomous/Turn.cpp | 2 +- Commands/BinElevator/BinCloseArms.cpp | 2 +- Commands/BinElevator/BinLower.cpp | 4 ++-- Commands/BinElevator/BinOpenArms.cpp | 2 +- Commands/BinElevator/BinRaise.cpp | 4 ++-- Commands/Collector/RollIn.cpp | 2 +- Commands/Collector/RollOut.cpp | 4 ++-- Commands/Drivetrain/Drive.cpp | 6 +++--- Commands/Elevator/Lower.cpp | 4 ++-- Commands/Elevator/Raise.cpp | 8 ++++---- Commands/Test/CheckDrive.cpp | 2 +- DentRobot.cpp | 4 ++-- OI.cpp | 2 +- Subsystems/Collector.cpp | 2 +- Subsystems/Drivetrain.cpp | 4 ++-- Subsystems/Pneumatics.cpp | 2 +- 18 files changed, 30 insertions(+), 30 deletions(-) diff --git a/CommandBase.cpp b/CommandBase.cpp index bb92223..72a2ffc 100644 --- a/CommandBase.cpp +++ b/CommandBase.cpp @@ -10,9 +10,9 @@ Elevator* CommandBase::elevator = NULL; BinElevator* CommandBase::binElevator = NULL; Pneumatics* CommandBase::pneumatics=NULL; OI* CommandBase::oi = NULL; -CommandBase::CommandBase(char const *name) : Command(name){ +CommandBase::CommandBase(char const *name): Command(name){ } -CommandBase::CommandBase() : Command(){ +CommandBase::CommandBase(): Command(){ } void CommandBase::init(){ drivetrain = new Drivetrain(); diff --git a/Commands/Autonomous/AutoDrive.cpp b/Commands/Autonomous/AutoDrive.cpp index 4f8dea5..2525eb8 100644 --- a/Commands/Autonomous/AutoDrive.cpp +++ b/Commands/Autonomous/AutoDrive.cpp @@ -1,7 +1,7 @@ #include "AutoDrive.h" #include "../../DentRobot.h" // Drive for a short while then stop. Just for testing -AutoDrive::AutoDrive(double duration, double xtmp, double ytmp) : Command("AutoDrive"){ +AutoDrive::AutoDrive(double duration, double xtmp, double ytmp): Command("AutoDrive"){ Requires(DentRobot::drivetrain); SetTimeout(duration); x=xtmp; diff --git a/Commands/Autonomous/Turn.cpp b/Commands/Autonomous/Turn.cpp index d9a68d7..b44dab9 100644 --- a/Commands/Autonomous/Turn.cpp +++ b/Commands/Autonomous/Turn.cpp @@ -1,6 +1,6 @@ #include "Turn.h" #include "../../DentRobot.h" -Turn::Turn(double timeout) : Command("Turn"){ +Turn::Turn(double timeout): Command("Turn"){ Requires(DentRobot::drivetrain); SetTimeout(timeout); } diff --git a/Commands/BinElevator/BinCloseArms.cpp b/Commands/BinElevator/BinCloseArms.cpp index f16cab0..45cd81b 100644 --- a/Commands/BinElevator/BinCloseArms.cpp +++ b/Commands/BinElevator/BinCloseArms.cpp @@ -1,7 +1,7 @@ #include "BinCloseArms.h" #include "../../DentRobot.h" #include "../../OI.h" -BinCloseArms::BinCloseArms(double timeout) : Command("BinCloseArms"){ +BinCloseArms::BinCloseArms(double timeout): Command("BinCloseArms"){ SetTimeout(timeout); } void BinCloseArms::Initialize(){ diff --git a/Commands/BinElevator/BinLower.cpp b/Commands/BinElevator/BinLower.cpp index fe781ed..e8373bd 100644 --- a/Commands/BinElevator/BinLower.cpp +++ b/Commands/BinElevator/BinLower.cpp @@ -1,7 +1,7 @@ #include "BinLower.h" #include "../../DentRobot.h" #include "../../OI.h" -BinLower::BinLower(float timeout) : Command("BinLower"){ +BinLower::BinLower(float timeout): Command("BinLower"){ SetTimeout(timeout); } void BinLower::Initialize(){ @@ -10,7 +10,7 @@ void BinLower::Execute(){ DentRobot::binElevator->Run(-1.0); } bool BinLower::IsFinished(){ - if (/*!DentRobot::binElevator->GetElevatorBottom()||*/IsTimedOut()){ + if(/*!DentRobot::binElevator->GetElevatorBottom()||*/IsTimedOut()){ printf("Robot stoped BinLowering. Sensor based? %d\n", !DentRobot::binElevator->GetElevatorBottom()); return true; }else{ diff --git a/Commands/BinElevator/BinOpenArms.cpp b/Commands/BinElevator/BinOpenArms.cpp index 694f357..91f9bb1 100644 --- a/Commands/BinElevator/BinOpenArms.cpp +++ b/Commands/BinElevator/BinOpenArms.cpp @@ -1,7 +1,7 @@ #include "BinOpenArms.h" #include "../../DentRobot.h" #include "../../OI.h" -BinOpenArms::BinOpenArms(double timeout) : Command("BinOpenArms"){ +BinOpenArms::BinOpenArms(double timeout): Command("BinOpenArms"){ SetTimeout(timeout); } void BinOpenArms::Initialize(){ diff --git a/Commands/BinElevator/BinRaise.cpp b/Commands/BinElevator/BinRaise.cpp index 8ac189f..0f89c78 100644 --- a/Commands/BinElevator/BinRaise.cpp +++ b/Commands/BinElevator/BinRaise.cpp @@ -1,7 +1,7 @@ #include "BinRaise.h" #include "../../DentRobot.h" #include "../../OI.h" -BinRaise::BinRaise(double timeout) : Command("BinRaise"){ +BinRaise::BinRaise(double timeout): Command("BinRaise"){ SetTimeout(timeout); } void BinRaise::Initialize(){ @@ -10,7 +10,7 @@ void BinRaise::Execute(){ DentRobot::binElevator->Run(1.0); } bool BinRaise::IsFinished(){ - if (/*!DentRobot::binElevator->GetElevatorTop()||*/IsTimedOut()){ + if(/*!DentRobot::binElevator->GetElevatorTop()||*/IsTimedOut()){ printf("Robot stoped raising. Sensor based? %d\n", !DentRobot::binElevator->GetElevatorTop()); return true; }else{ diff --git a/Commands/Collector/RollIn.cpp b/Commands/Collector/RollIn.cpp index 87ec0f9..f87de00 100644 --- a/Commands/Collector/RollIn.cpp +++ b/Commands/Collector/RollIn.cpp @@ -1,5 +1,5 @@ #include "RollIn.h" -RollIn::RollIn(double speed) : Command("RollIn"){ +RollIn::RollIn(double speed): Command("RollIn"){ rawSpeed=speed; } void RollIn::Initialize(){ diff --git a/Commands/Collector/RollOut.cpp b/Commands/Collector/RollOut.cpp index eb07ad6..d9a696a 100644 --- a/Commands/Collector/RollOut.cpp +++ b/Commands/Collector/RollOut.cpp @@ -1,5 +1,5 @@ #include "RollOut.h" -RollOut::RollOut(double timeout) : Command("RollOut"){ +RollOut::RollOut(double timeout): Command("RollOut"){ Requires(DentRobot::collector); SetTimeout(timeout); } @@ -9,7 +9,7 @@ void RollOut::Execute(){ //TODO check this value to move the motors in the right direction // Devide by 2 twice because this speed should be half the collector speed DentRobot::collector->MoveRollers(-DentRobot::oi->GetLeftThrottle() * 0.8); - SmartDashboard::PutNumber("DriveThrottle",-DentRobot::oi->GetLeftThrottle()); + SmartDashboard::PutNumber("DriveThrottle", -DentRobot::oi->GetLeftThrottle()); } bool RollOut::IsFinished(){ return IsTimedOut(); diff --git a/Commands/Drivetrain/Drive.cpp b/Commands/Drivetrain/Drive.cpp index 4354717..71470eb 100644 --- a/Commands/Drivetrain/Drive.cpp +++ b/Commands/Drivetrain/Drive.cpp @@ -1,6 +1,6 @@ #include "Drive.h" #include "../../DentRobot.h" -Drive::Drive() : Command("Drive"){ +Drive::Drive(): Command("Drive"){ Requires(DentRobot::drivetrain); } void Drive::Initialize(){ @@ -11,10 +11,10 @@ void Drive::Execute(){ y = -DentRobot::oi->GetLeftStick()->GetRawAxis(1); z = DentRobot::oi->GetLeftStick()->GetRawAxis(2); // Lock the x axis when not holding button 1 - //if (DentRobot::oi->GetLeftStick()->GetRawButton(1)){ + //if(DentRobot::oi->GetLeftStick()->GetRawButton(1)){ // x=0; //} - //if (DentRobot::oi->GetLeftStick()->GetRawButton(2)){ + //if(DentRobot::oi->GetLeftStick()->GetRawButton(2)){ // y=0; //} //X axis, Y axis, Z axis, sensitivity, speed threshold (usually throttle), gyro diff --git a/Commands/Elevator/Lower.cpp b/Commands/Elevator/Lower.cpp index 3b11e4f..54f26f2 100644 --- a/Commands/Elevator/Lower.cpp +++ b/Commands/Elevator/Lower.cpp @@ -1,7 +1,7 @@ #include "Lower.h" #include "../../DentRobot.h" #include "../../OI.h" -Lower::Lower(double timeout) : Command("Lower"){ +Lower::Lower(double timeout): Command("Lower"){ SetTimeout(timeout); } void Lower::Initialize(){ @@ -10,7 +10,7 @@ void Lower::Execute(){ DentRobot::elevator->Run(-1.0); } bool Lower::IsFinished(){ - if (!DentRobot::elevator->GetElevatorBottom()||IsTimedOut()){ + if(!DentRobot::elevator->GetElevatorBottom()||IsTimedOut()){ printf("Robot stoped lowering. Sensor based? %d\n", !DentRobot::elevator->GetElevatorBottom()); return true; }else{ diff --git a/Commands/Elevator/Raise.cpp b/Commands/Elevator/Raise.cpp index 48286c7..feaa933 100644 --- a/Commands/Elevator/Raise.cpp +++ b/Commands/Elevator/Raise.cpp @@ -1,7 +1,7 @@ #include "Raise.h" #include "../../DentRobot.h" #include "../../OI.h" -Raise::Raise(double timeout) : Command("Raise"){ +Raise::Raise(double timeout): Command("Raise"){ SetTimeout(timeout); } void Raise::Initialize(){ @@ -13,12 +13,12 @@ bool Raise::IsFinished(){ //if(!DentRobot::elevator->GetElevatorMiddle()){ // DentRobot::elevator->stoppedAtSensor=true; //} - //if ((DentRobot::elevator->stoppedAtSensor)){ + //if((DentRobot::elevator->stoppedAtSensor)){ // printf("Stopped at the middle sensor\n"); // DentRobot::elevator->stoppedAtSensor=false; // return true; - //}else if (!DentRobot::elevator->GetElevatorTop()) { - if (!DentRobot::elevator->GetElevatorTop()||!DentRobot::elevator->GetElevatorMiddle()||IsTimedOut()){ + //}else if(!DentRobot::elevator->GetElevatorTop()){ + if(!DentRobot::elevator->GetElevatorTop()||!DentRobot::elevator->GetElevatorMiddle()||IsTimedOut()){ printf("Robot stopped raising. Sensor based? %d\n", !DentRobot::elevator->GetElevatorTop()||!DentRobot::elevator->GetElevatorMiddle()); return true; }else{ diff --git a/Commands/Test/CheckDrive.cpp b/Commands/Test/CheckDrive.cpp index 8ce3b65..8a114b7 100644 --- a/Commands/Test/CheckDrive.cpp +++ b/Commands/Test/CheckDrive.cpp @@ -3,7 +3,7 @@ #include "Commands/CommandGroup.h" #include "../../DentRobot.h" #include "../../RobotMap.h" -CheckDrive::CheckDrive(int motorID) : CommandGroup("CheckDrive"){ +CheckDrive::CheckDrive(int motorID): CommandGroup("CheckDrive"){ Requires(DentRobot::drivetrain); motor = motorID; } diff --git a/DentRobot.cpp b/DentRobot.cpp index 5bdb235..be86154 100644 --- a/DentRobot.cpp +++ b/DentRobot.cpp @@ -43,7 +43,7 @@ void DentRobot::RobotInit(){ SmartDashboard::PutBoolean("Elevator Bottom", false); SmartDashboard::PutBoolean("Elevator Top", false); //Drive speed - SmartDashboard::PutNumber("DriveSpeedReductionThresh",2); + SmartDashboard::PutNumber("DriveSpeedReductionThresh", 2); } void DentRobot::DisabledPeriodic(){ Scheduler::GetInstance()->Run(); @@ -60,7 +60,7 @@ void DentRobot::AutonomousPeriodic(){ Scheduler::GetInstance()->Run(); } void DentRobot::TeleopInit(){ - if (aut != NULL){ + if(aut != NULL){ aut->Cancel(); } } diff --git a/OI.cpp b/OI.cpp index 3bea98f..f3d07f9 100644 --- a/OI.cpp +++ b/OI.cpp @@ -10,7 +10,7 @@ #include "Commands/Autonomous/CollectTote.h" #include "Commands/Autonomous/ReleaseTote.h" #include "Commands/Test/CheckRobot.h" -OI::OI() { +OI::OI(){ // Joysticks leftStick=new Joystick(0); rightStick=new Joystick(1); diff --git a/Subsystems/Collector.cpp b/Subsystems/Collector.cpp index 7e5296a..ddae882 100644 --- a/Subsystems/Collector.cpp +++ b/Subsystems/Collector.cpp @@ -1,7 +1,7 @@ #include "Collector.h" #include "../RobotMap.h" -Collector::Collector() : Subsystem("Collector"){ +Collector::Collector(): Subsystem("Collector"){ collectorMotorLeft=new CANTalon(COLLECTOR_LEFT_CAN); collectorMotorBottom=new CANTalon(COLLECTOR_BOTTOM_CAN); collectorMotorRamp=new CANTalon(COLLECTOR_RAMP_CAN); diff --git a/Subsystems/Drivetrain.cpp b/Subsystems/Drivetrain.cpp index 2eff667..fa546b7 100644 --- a/Subsystems/Drivetrain.cpp +++ b/Subsystems/Drivetrain.cpp @@ -2,7 +2,7 @@ #include "../RobotMap.h" #include "../Commands/Drivetrain/Drive.h" -Drivetrain::Drivetrain() : Subsystem("Drivetrain"){ +Drivetrain::Drivetrain(): Subsystem("Drivetrain"){ rightFront = new CANTalon(DRIVE_FRONT_RIGHT_CAN); leftFront = new CANTalon(DRIVE_FRONT_LEFT_CAN); rightRear = new CANTalon(DRIVE_BACK_RIGHT_CAN); @@ -15,7 +15,7 @@ void Drivetrain::DriveMecanum(double x, double y, double z, double sensitivity, double correctX = -(sensitivity*(pow(x, 3))+(1-sensitivity)*x); double correctY = -(sensitivity*(pow(y, 3))+(1-sensitivity)*y); double correctZ = -z * 0.5; - if (DentRobot::oi->GetLeftStick()->GetRawButton(9)){ + if(DentRobot::oi->GetLeftStick()->GetRawButton(9)){ correctY /= SmartDashboard::GetNumber("DriveSpeedReductionThresh"); } rightFront->Set((-correctX + correctY - correctZ)); diff --git a/Subsystems/Pneumatics.cpp b/Subsystems/Pneumatics.cpp index 93dab86..ef040af 100644 --- a/Subsystems/Pneumatics.cpp +++ b/Subsystems/Pneumatics.cpp @@ -1,7 +1,7 @@ #include "Pneumatics.h" #include "../RobotMap.h" -Pneumatics::Pneumatics() : Subsystem("Pneumatics"){ +Pneumatics::Pneumatics(): Subsystem("Pneumatics"){ solenoid1 = new Solenoid(BINELEVATOR_SOLDENOID_ONE); solenoid2 = new Solenoid(BINELEVATOR_SOLDENOID_TWO); } From 5d6897fb884e05191087566a0016b89a7fce6b3d Mon Sep 17 00:00:00 2001 From: Austen Adler Date: Mon, 9 Mar 2015 07:34:29 -0400 Subject: [PATCH 21/43] Removed unused elevator and bin elevator constants --- Subsystems/BinElevator.h | 1 - Subsystems/Elevator.h | 1 - 2 files changed, 2 deletions(-) diff --git a/Subsystems/BinElevator.h b/Subsystems/BinElevator.h index 8814152..8f77991 100644 --- a/Subsystems/BinElevator.h +++ b/Subsystems/BinElevator.h @@ -7,7 +7,6 @@ class BinElevator{ private: CANTalon *motor; Encoder *elevatorEncoder; - static constexpr double kP_real=4, kI_real=.0f, kP_simulation=18, kI_simulation=.2; DigitalInput *elevatorBottom, *elevatorTop; public: BinElevator(); diff --git a/Subsystems/Elevator.h b/Subsystems/Elevator.h index 505386d..e4a1fb5 100644 --- a/Subsystems/Elevator.h +++ b/Subsystems/Elevator.h @@ -7,7 +7,6 @@ class Elevator{ private: CANTalon *motor; Encoder *elevatorEncoder; - static constexpr double kP_real=4, kI_real=.0f, kP_simulation=18, kI_simulation=.2; DigitalInput *elevatorBottom, *elevatorMiddle, *elevatorTop; bool useEncoder; public: From 123898882c723e09c67a2a167b5d73912bbd4cd0 Mon Sep 17 00:00:00 2001 From: Austen Adler Date: Mon, 9 Mar 2015 09:48:18 -0400 Subject: [PATCH 22/43] Continued work on documentation --- Commands/Autonomous/AutoDrive.h | 6 +-- Commands/BinElevator/BinOpenArms.h | 8 ++++ DentRobot.h | 2 +- Subsystems/BinElevator.h | 41 +++++++++++++++++++-- Subsystems/Collector.h | 6 +-- Subsystems/Drivetrain.h | 49 ++++++++++++++++++++++--- Subsystems/Elevator.cpp | 1 - Subsystems/Elevator.h | 59 +++++++++++++++++++++++++++--- Subsystems/Pneumatics.h | 22 +++++++++-- 9 files changed, 168 insertions(+), 26 deletions(-) diff --git a/Commands/Autonomous/AutoDrive.h b/Commands/Autonomous/AutoDrive.h index 23fb324..1572c09 100644 --- a/Commands/Autonomous/AutoDrive.h +++ b/Commands/Autonomous/AutoDrive.h @@ -19,9 +19,9 @@ class AutoDrive: public Command{ /** * @brief Constructs AutoDrive * - * @param double Timeout in seconds - * @param double Joystick x value (default: 0.0) - * @param double Joystick y value (default: 0.75) + * @param duration Timeout in seconds + * @param xtmp Joystick x value (default: 0.0) + * @param ytmp Joystick y value (default: 0.75) */ AutoDrive(double duration, double xtmp = 0.0, double ytmp = -0.75); /** diff --git a/Commands/BinElevator/BinOpenArms.h b/Commands/BinElevator/BinOpenArms.h index aaa4966..0b2bf03 100644 --- a/Commands/BinElevator/BinOpenArms.h +++ b/Commands/BinElevator/BinOpenArms.h @@ -4,8 +4,16 @@ #include "Commands/Command.h" #include "WPILib.h" +/** + * @brief Opens bin arms (unused) + */ class BinOpenArms: public Command{ public: + /** + * @brief Constructs BinOpenArms + * + * @param double The timeout + */ BinOpenArms(double); /** * @brief Constructs BinOpenArms diff --git a/DentRobot.h b/DentRobot.h index 4c859f9..43759bd 100644 --- a/DentRobot.h +++ b/DentRobot.h @@ -45,7 +45,7 @@ class DentRobot: public IterativeRobot { */ static BinElevator* binElevator; /** - * @brief The Pneumatics system (UNUSED) + * @brief The Pneumatics system (unused) */ static Pneumatics* pneumatics; /** diff --git a/Subsystems/BinElevator.h b/Subsystems/BinElevator.h index 8f77991..3ff85a6 100644 --- a/Subsystems/BinElevator.h +++ b/Subsystems/BinElevator.h @@ -3,18 +3,53 @@ #include "WPILib.h" #include "Commands/PIDSubsystem.h" +/** + * @brief Controls the bin elevator + */ class BinElevator{ private: - CANTalon *motor; - Encoder *elevatorEncoder; - DigitalInput *elevatorBottom, *elevatorTop; + CANTalon *motor; // Date: Mon, 9 Mar 2015 10:07:54 -0400 Subject: [PATCH 23/43] Fixed documentation errors --- Commands/Autonomous/Autonomous.h | 4 ++-- Commands/Autonomous/Turn.h | 4 ++-- Commands/BinElevator/BinCloseArms.h | 5 +++-- Commands/BinElevator/BinLower.h | 5 ++--- Commands/BinElevator/BinOpenArms.h | 4 ++-- Commands/BinElevator/BinRaise.h | 6 ++---- Commands/Collector/RollIn.h | 4 ++-- Commands/Collector/RollOut.h | 5 +++-- 8 files changed, 18 insertions(+), 19 deletions(-) diff --git a/Commands/Autonomous/Autonomous.h b/Commands/Autonomous/Autonomous.h index 4850c97..cfa3d24 100644 --- a/Commands/Autonomous/Autonomous.h +++ b/Commands/Autonomous/Autonomous.h @@ -25,9 +25,9 @@ class Autonomous: public CommandGroup{ /** * @brief Constructs Autonomous * - * @param int The sequence to run + * @param seq The sequence to run */ - Autonomous(int); + Autonomous(int seq=0); }; #endif // vim: ts=2:sw=2:et diff --git a/Commands/Autonomous/Turn.h b/Commands/Autonomous/Turn.h index 36bea6d..bd8078c 100644 --- a/Commands/Autonomous/Turn.h +++ b/Commands/Autonomous/Turn.h @@ -17,9 +17,9 @@ class Turn: public Command{ /** * @brief Constructs Turn * - * @param double Timeout in seconds + * @param timeout Timeout in seconds */ - Turn(double); + Turn(double timeout); /** * @brief Initializes the class */ diff --git a/Commands/BinElevator/BinCloseArms.h b/Commands/BinElevator/BinCloseArms.h index 771b081..ed745c5 100644 --- a/Commands/BinElevator/BinCloseArms.h +++ b/Commands/BinElevator/BinCloseArms.h @@ -11,11 +11,12 @@ */ class BinCloseArms: public Command{ public: - BinCloseArms(double timeout = 0.5); /** * @brief Constructs BinCloseArms + * + * @param timeout The timeout */ - BinCloseArms(); + BinCloseArms(double timeout = 0.5); /** * @brief Initializes the class */ diff --git a/Commands/BinElevator/BinLower.h b/Commands/BinElevator/BinLower.h index 57beb54..765c1d6 100644 --- a/Commands/BinElevator/BinLower.h +++ b/Commands/BinElevator/BinLower.h @@ -9,14 +9,13 @@ */ class BinLower: public Command{ private: - float timeout; // Date: Mon, 9 Mar 2015 10:53:35 -0400 Subject: [PATCH 24/43] Removed extra file, CommandBase.(h|cpp) --- CommandBase.cpp | 25 ------------------------- CommandBase.h | 26 -------------------------- Commands/Autonomous/AutoDrive.h | 2 +- Commands/Autonomous/Autonomous.h | 2 +- Commands/Autonomous/CollectTote.h | 2 +- Commands/Autonomous/ReleaseTote.h | 2 +- Commands/Autonomous/Turn.h | 2 +- Commands/Collector/RollIn.h | 2 +- Commands/Collector/RollOut.h | 2 +- Commands/Drivetrain/Drive.h | 2 +- Commands/Test/CheckDrive.h | 2 +- Commands/Test/CheckRobot.h | 2 +- 12 files changed, 10 insertions(+), 61 deletions(-) delete mode 100644 CommandBase.cpp delete mode 100644 CommandBase.h diff --git a/CommandBase.cpp b/CommandBase.cpp deleted file mode 100644 index 72a2ffc..0000000 --- a/CommandBase.cpp +++ /dev/null @@ -1,25 +0,0 @@ -#include "CommandBase.h" -#include "Subsystems/Drivetrain.h" -#include "Subsystems/Collector.h" -#include "Subsystems/Elevator.h" -#include "Subsystems/BinElevator.h" -#include "Subsystems/Pneumatics.h" -Drivetrain* CommandBase::drivetrain = NULL; -Collector* CommandBase::collector = NULL; -Elevator* CommandBase::elevator = NULL; -BinElevator* CommandBase::binElevator = NULL; -Pneumatics* CommandBase::pneumatics=NULL; -OI* CommandBase::oi = NULL; -CommandBase::CommandBase(char const *name): Command(name){ -} -CommandBase::CommandBase(): Command(){ -} -void CommandBase::init(){ - drivetrain = new Drivetrain(); - collector = new Collector(); - elevator = new Elevator(); - binElevator = new BinElevator(); - pneumatics = new Pneumatics(); - oi = new OI(); -} -// vim: ts=2:sw=2:et diff --git a/CommandBase.h b/CommandBase.h deleted file mode 100644 index d0a855f..0000000 --- a/CommandBase.h +++ /dev/null @@ -1,26 +0,0 @@ -#ifndef COMMAND_BASE_H -#define COMMAND_BASE_H - -#include -#include "Subsystems/Drivetrain.h" -#include "Subsystems/Collector.h" -#include "Subsystems/Elevator.h" -#include "Subsystems/BinElevator.h" -#include "Subsystems/Pneumatics.h" -#include "OI.h" -#include "WPILib.h" - -class CommandBase: public Command{ - public: - CommandBase(char const *name); - CommandBase(); - static void init(); - static Drivetrain *drivetrain; - static Collector *collector; - static Elevator *elevator; - static BinElevator *binElevator; - static Pneumatics *pneumatics; - static OI *oi; -}; -#endif -// vim: ts=2:sw=2:et diff --git a/Commands/Autonomous/AutoDrive.h b/Commands/Autonomous/AutoDrive.h index 1572c09..96fa8a4 100644 --- a/Commands/Autonomous/AutoDrive.h +++ b/Commands/Autonomous/AutoDrive.h @@ -2,7 +2,7 @@ #define AUTODRIVE_H #include "Commands/Command.h" -#include "../../CommandBase.h" +#include "../../DentRobot.h" #include "../../DentRobot.h" #include "WPILib.h" diff --git a/Commands/Autonomous/Autonomous.h b/Commands/Autonomous/Autonomous.h index cfa3d24..10b3227 100644 --- a/Commands/Autonomous/Autonomous.h +++ b/Commands/Autonomous/Autonomous.h @@ -2,7 +2,7 @@ #define AUTONOMOUS_H #include "Commands/CommandGroup.h" -#include "../../CommandBase.h" +#include "../../DentRobot.h" #include "../../DentRobot.h" #include "WPILib.h" diff --git a/Commands/Autonomous/CollectTote.h b/Commands/Autonomous/CollectTote.h index 0d7c013..aba8974 100644 --- a/Commands/Autonomous/CollectTote.h +++ b/Commands/Autonomous/CollectTote.h @@ -2,7 +2,7 @@ #define COLLECTTOTE_H #include "Commands/CommandGroup.h" -#include "../../CommandBase.h" +#include "../../DentRobot.h" #include "../../DentRobot.h" #include "WPILib.h" diff --git a/Commands/Autonomous/ReleaseTote.h b/Commands/Autonomous/ReleaseTote.h index f91dc65..0dbf066 100644 --- a/Commands/Autonomous/ReleaseTote.h +++ b/Commands/Autonomous/ReleaseTote.h @@ -2,7 +2,7 @@ #define RELEASETOTE_H #include "Commands/CommandGroup.h" -#include "../../CommandBase.h" +#include "../../DentRobot.h" #include "../../DentRobot.h" #include "WPILib.h" diff --git a/Commands/Autonomous/Turn.h b/Commands/Autonomous/Turn.h index bd8078c..09d0913 100644 --- a/Commands/Autonomous/Turn.h +++ b/Commands/Autonomous/Turn.h @@ -2,7 +2,7 @@ #define TURN_H #include "Commands/Command.h" -#include "../../CommandBase.h" +#include "../../DentRobot.h" #include "../../DentRobot.h" #include "WPILib.h" diff --git a/Commands/Collector/RollIn.h b/Commands/Collector/RollIn.h index 0a8dc20..e5bbf37 100644 --- a/Commands/Collector/RollIn.h +++ b/Commands/Collector/RollIn.h @@ -2,7 +2,7 @@ #define ROLLIN_H #include "Commands/Command.h" -#include "../../CommandBase.h" +#include "../../DentRobot.h" #include "../../DentRobot.h" #include "WPILib.h" diff --git a/Commands/Collector/RollOut.h b/Commands/Collector/RollOut.h index 2d2990f..bfa7b70 100644 --- a/Commands/Collector/RollOut.h +++ b/Commands/Collector/RollOut.h @@ -2,7 +2,7 @@ #define ROLLOUT_H #include "Commands/Command.h" -#include "../../CommandBase.h" +#include "../../DentRobot.h" #include "../../DentRobot.h" #include "WPILib.h" diff --git a/Commands/Drivetrain/Drive.h b/Commands/Drivetrain/Drive.h index cd45188..ec9031f 100644 --- a/Commands/Drivetrain/Drive.h +++ b/Commands/Drivetrain/Drive.h @@ -2,7 +2,7 @@ #define DRIVE_H #include "Commands/Command.h" -#include "../../CommandBase.h" +#include "../../DentRobot.h" #include "../../DentRobot.h" #include "WPILib.h" diff --git a/Commands/Test/CheckDrive.h b/Commands/Test/CheckDrive.h index 11fdc6f..2501755 100644 --- a/Commands/Test/CheckDrive.h +++ b/Commands/Test/CheckDrive.h @@ -2,7 +2,7 @@ #define CHECKDRIVE_H #include "Commands/Command.h" -#include "../../CommandBase.h" +#include "../../DentRobot.h" #include "../../DentRobot.h" #include "WPILib.h" diff --git a/Commands/Test/CheckRobot.h b/Commands/Test/CheckRobot.h index c12d6f6..eb14a2b 100644 --- a/Commands/Test/CheckRobot.h +++ b/Commands/Test/CheckRobot.h @@ -2,7 +2,7 @@ #define CHECKROBOT_H #include "Commands/CommandGroup.h" -#include "../../CommandBase.h" +#include "../../DentRobot.h" #include "../../DentRobot.h" #include "WPILib.h" From d1cec996c1ce1c739a34d1d40e514bec5f2b97b3 Mon Sep 17 00:00:00 2001 From: Austen Adler Date: Mon, 9 Mar 2015 11:15:57 -0400 Subject: [PATCH 25/43] More formatting improvements, added mainpage --- Commands/Autonomous/Autonomous.h | 2 +- Commands/BinElevator/BinCloseArms.h | 2 +- mainpage.dox | 29 +++++++++++++++++++++++++++++ 3 files changed, 31 insertions(+), 2 deletions(-) create mode 100644 mainpage.dox diff --git a/Commands/Autonomous/Autonomous.h b/Commands/Autonomous/Autonomous.h index 10b3227..bafa61c 100644 --- a/Commands/Autonomous/Autonomous.h +++ b/Commands/Autonomous/Autonomous.h @@ -11,7 +11,7 @@ * * Contains three sequences selectable from the SmartDashboard * All sequences will wait for the SmartDashboard value "Auto Wait Time" - * + * * Sequence 0: Used for testing only * * Sequence 1: Drives forward "Auto Zone Distance" at -0.8 power diff --git a/Commands/BinElevator/BinCloseArms.h b/Commands/BinElevator/BinCloseArms.h index ed745c5..c00cdde 100644 --- a/Commands/BinElevator/BinCloseArms.h +++ b/Commands/BinElevator/BinCloseArms.h @@ -14,7 +14,7 @@ class BinCloseArms: public Command{ /** * @brief Constructs BinCloseArms * - * @param timeout The timeout + * @param timeout The timeout */ BinCloseArms(double timeout = 0.5); /** diff --git a/mainpage.dox b/mainpage.dox new file mode 100644 index 0000000..c2056db --- /dev/null +++ b/mainpage.dox @@ -0,0 +1,29 @@ +/** +* @mainpage Dent +* +* The Hitchhikers Team 2015 robot, Dent. Features an elevator, bin elevator, and mecanum drive +* @section Subsystems +* -# @ref Drivetrain +* -# @ref BinElevator +* -# @ref Elevator +* -# @ref Collector +* -# @ref Pneumatics (unused) +* @section Commands +* -# @ref AutoDrive +* -# @ref Turn +* -# @ref BinCloseArms +* -# @ref BinLower +* -# @ref BinOpenArms +* -# @ref BinRaise +* -# @ref RollIn +* -# @ref RollOut +* -# @ref Drive +* -# @ref Lower +* -# @ref Raise +* @section Command Groups +* -# @ref Autonomous +* -# @ref CollectTote +* -# @ref ReleaseTote +* -# @ref CheckDrive +* -# @ref CheckRobot +*/ From d9aee4a6f169438f21f0ecd18075717089a15f38 Mon Sep 17 00:00:00 2001 From: Austen Adler Date: Mon, 9 Mar 2015 13:46:11 -0400 Subject: [PATCH 26/43] Note on bins --- mainpage.dox | 2 ++ 1 file changed, 2 insertions(+) diff --git a/mainpage.dox b/mainpage.dox index c2056db..31dc3c7 100644 --- a/mainpage.dox +++ b/mainpage.dox @@ -26,4 +26,6 @@ * -# @ref ReleaseTote * -# @ref CheckDrive * -# @ref CheckRobot +* +* Note: Recycling containers are referred to bins throughout the project */ From d4e214a9cdbeb5dab4e74cf950931de0b66c8701 Mon Sep 17 00:00:00 2001 From: Adam Long Date: Tue, 10 Mar 2015 16:07:22 +0000 Subject: [PATCH 27/43] Removed useless makefile option --- Makefile | 3 --- 1 file changed, 3 deletions(-) diff --git a/Makefile b/Makefile index 2e8db02..d49cc80 100644 --- a/Makefile +++ b/Makefile @@ -26,6 +26,3 @@ debug: putkey: @test -d ~/.ssh||mkdir ~/.ssh;test -f ~/.ssh/id_rsa||ssh-keygen -t rsa -f ~/.ssh/id_rsa -b 4096 -q -N '';cat ~/.ssh/id_rsa.pub|ssh -v admin@$(REMOTEIP) 'cat >> /tmp/key;mkdir -p ~/.ssh;cat /tmp/key >> ~/.ssh/authorized_keys;rm /tmp/key' - -updatemakefile: - @curl -s https://raw.githubusercontent.com/int0x191f2/nameless/master/configure.sh | sh From 7fc088c10cd193834026548b53795eb4ec2f0725 Mon Sep 17 00:00:00 2001 From: = Date: Tue, 10 Mar 2015 19:46:43 -0400 Subject: [PATCH 28/43] Fix typos. --- Commands/Collector/RollOut.cpp | 2 +- Commands/Elevator/Lower.cpp | 2 +- DentRobot.h | 2 +- Subsystems/BinElevator.h | 2 +- Subsystems/Collector.h | 4 ++-- Subsystems/Elevator.h | 4 ++-- 6 files changed, 8 insertions(+), 8 deletions(-) diff --git a/Commands/Collector/RollOut.cpp b/Commands/Collector/RollOut.cpp index d9a696a..bc54cdf 100644 --- a/Commands/Collector/RollOut.cpp +++ b/Commands/Collector/RollOut.cpp @@ -7,7 +7,7 @@ void RollOut::Initialize(){ } void RollOut::Execute(){ //TODO check this value to move the motors in the right direction - // Devide by 2 twice because this speed should be half the collector speed + // Divide by 2 twice because this speed should be half the collector speed DentRobot::collector->MoveRollers(-DentRobot::oi->GetLeftThrottle() * 0.8); SmartDashboard::PutNumber("DriveThrottle", -DentRobot::oi->GetLeftThrottle()); } diff --git a/Commands/Elevator/Lower.cpp b/Commands/Elevator/Lower.cpp index 54f26f2..c79b19c 100644 --- a/Commands/Elevator/Lower.cpp +++ b/Commands/Elevator/Lower.cpp @@ -11,7 +11,7 @@ void Lower::Execute(){ } bool Lower::IsFinished(){ if(!DentRobot::elevator->GetElevatorBottom()||IsTimedOut()){ - printf("Robot stoped lowering. Sensor based? %d\n", !DentRobot::elevator->GetElevatorBottom()); + printf("Robot stopped lowering. Sensor based? %d\n", !DentRobot::elevator->GetElevatorBottom()); return true; }else{ return false; diff --git a/DentRobot.h b/DentRobot.h index 5519df6..6898ef1 100644 --- a/DentRobot.h +++ b/DentRobot.h @@ -29,7 +29,7 @@ class DentRobot: public IterativeRobot{ */ static OI* oi; /** - * @brief The 4-motor Collctor + * @brief The 4-motor Collector */ static Collector* collector; /** diff --git a/Subsystems/BinElevator.h b/Subsystems/BinElevator.h index 3ff85a6..5923c4d 100644 --- a/Subsystems/BinElevator.h +++ b/Subsystems/BinElevator.h @@ -11,7 +11,7 @@ class BinElevator{ CANTalon *motor; // Date: Tue, 10 Mar 2015 19:49:57 -0400 Subject: [PATCH 29/43] Fix spelling of 'mecanum'. --- Commands/Drivetrain/Drive.h | 2 +- DentRobot.h | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/Commands/Drivetrain/Drive.h b/Commands/Drivetrain/Drive.h index ec9031f..0b32990 100644 --- a/Commands/Drivetrain/Drive.h +++ b/Commands/Drivetrain/Drive.h @@ -9,7 +9,7 @@ /** * @brief Drives the robot with a joystick * - * Uses mechanum drive + * Uses mecanum drive */ class Drive: public Command{ public: diff --git a/DentRobot.h b/DentRobot.h index 6898ef1..94bd52c 100644 --- a/DentRobot.h +++ b/DentRobot.h @@ -33,7 +33,7 @@ class DentRobot: public IterativeRobot{ */ static Collector* collector; /** - * @brief The 4-motor mechanum Drivetrain + * @brief The 4-motor mecanum Drivetrain */ static Drivetrain* drivetrain; /** From 2a25a3c6c637bb9f7609f04e3912242c2fdd135e Mon Sep 17 00:00:00 2001 From: Austen Adler Date: Tue, 10 Mar 2015 20:14:38 -0400 Subject: [PATCH 30/43] Implemented gyro (untested) --- Commands/Autonomous/AutoDrive.cpp | 6 +++--- Commands/Autonomous/Turn.cpp | 6 +++--- Commands/Drivetrain/Drive.cpp | 4 ++-- RobotMap.h | 1 + Subsystems/Drivetrain.cpp | 16 +++++++++++++--- Subsystems/Drivetrain.h | 30 ++++++++++++++---------------- 6 files changed, 36 insertions(+), 27 deletions(-) diff --git a/Commands/Autonomous/AutoDrive.cpp b/Commands/Autonomous/AutoDrive.cpp index 2525eb8..9832bf6 100644 --- a/Commands/Autonomous/AutoDrive.cpp +++ b/Commands/Autonomous/AutoDrive.cpp @@ -10,14 +10,14 @@ AutoDrive::AutoDrive(double duration, double xtmp, double ytmp): Command("AutoDr void AutoDrive::Initialize(){ } void AutoDrive::Execute(){ - //X axis, Y axis, Z axis, sensitivity, speed threshold (usually throttle), gyro - DentRobot::drivetrain->DriveMecanum(x, y, 0.0, 0.9, 0.0); + //X axis, Y axis, Z axis, sensitivity, speed threshold (usually throttle) + DentRobot::drivetrain->DriveMecanum(x, y, 0.0, 0.9); } bool AutoDrive::IsFinished(){ return IsTimedOut(); } void AutoDrive::End(){ - DentRobot::drivetrain->DriveMecanum(0.0, 0.0, 0.0, 0.9, 0.0); + DentRobot::drivetrain->DriveMecanum(0.0, 0.0, 0.0, 0.9); } void AutoDrive::Interrupted(){ End(); diff --git a/Commands/Autonomous/Turn.cpp b/Commands/Autonomous/Turn.cpp index b44dab9..2413e6c 100644 --- a/Commands/Autonomous/Turn.cpp +++ b/Commands/Autonomous/Turn.cpp @@ -7,15 +7,15 @@ Turn::Turn(double timeout): Command("Turn"){ void Turn::Initialize(){ } void Turn::Execute(){ - //X axis, Y axis, Z axis, sensitivity, speed threshold (usually throttle), gyro - DentRobot::drivetrain->DriveMecanum(0.0, 0.0, 0.6, 0.9, 0.0); + //X axis, Y axis, Z axis, sensitivity, speed threshold (usually throttle) + DentRobot::drivetrain->DriveMecanum(0.0, 0.0, 0.6, 0.9); } bool Turn::IsFinished(){ return IsTimedOut(); } void Turn::End(){ // Stop driving - DentRobot::drivetrain->DriveMecanum(0.0, 0.0, 0.0, 0.9, 0.0); + DentRobot::drivetrain->DriveMecanum(0.0, 0.0, 0.0, 0.9); } void Turn::Interrupted(){ End(); diff --git a/Commands/Drivetrain/Drive.cpp b/Commands/Drivetrain/Drive.cpp index 71470eb..692753b 100644 --- a/Commands/Drivetrain/Drive.cpp +++ b/Commands/Drivetrain/Drive.cpp @@ -17,8 +17,8 @@ void Drive::Execute(){ //if(DentRobot::oi->GetLeftStick()->GetRawButton(2)){ // y=0; //} - //X axis, Y axis, Z axis, sensitivity, speed threshold (usually throttle), gyro - DentRobot::drivetrain->DriveMecanum(x, y, z, 0.9, 0.0); + //X axis, Y axis, Z axis, sensitivity, speed threshold (usually throttle) + DentRobot::drivetrain->DriveMecanum(x, y, z, 0.9); } bool Drive::IsFinished(){ return IsTimedOut(); diff --git a/RobotMap.h b/RobotMap.h index 2f25d55..73986d6 100644 --- a/RobotMap.h +++ b/RobotMap.h @@ -28,6 +28,7 @@ #define DRIVE_BACK_LEFT_CAN 3 #define DRIVE_FRONT_RIGHT_CAN 4 #define DRIVE_BACK_RIGHT_CAN 5 +#define DRIVE_GYRO_ANALOG 0 // Collector #define COLLECTOR_RAMP_CAN 7 diff --git a/Subsystems/Drivetrain.cpp b/Subsystems/Drivetrain.cpp index fa546b7..ac93f2c 100644 --- a/Subsystems/Drivetrain.cpp +++ b/Subsystems/Drivetrain.cpp @@ -7,14 +7,22 @@ Drivetrain::Drivetrain(): Subsystem("Drivetrain"){ leftFront = new CANTalon(DRIVE_FRONT_LEFT_CAN); rightRear = new CANTalon(DRIVE_BACK_RIGHT_CAN); leftRear = new CANTalon(DRIVE_BACK_LEFT_CAN); + gyro = new Gyro(DRIVE_GYRO_ANALOG); } void Drivetrain::InitDefaultCommand(){ SetDefaultCommand(new Drive()); } -void Drivetrain::DriveMecanum(double x, double y, double z, double sensitivity, double gyro){ +void Drivetrain::DriveMecanum(double x, double y, double z, double sensitivity, bool driveStraight){ + //TODO: Find the correct value for kP + double kP=0.02; double correctX = -(sensitivity*(pow(x, 3))+(1-sensitivity)*x); double correctY = -(sensitivity*(pow(y, 3))+(1-sensitivity)*y); - double correctZ = -z * 0.5; + double correctZ; + if(driveStraight){ + correctZ = -gyro->GetAngle()*kP; + }else{ + correctZ = -z * 0.5; + } if(DentRobot::oi->GetLeftStick()->GetRawButton(9)){ correctY /= SmartDashboard::GetNumber("DriveSpeedReductionThresh"); } @@ -23,7 +31,6 @@ void Drivetrain::DriveMecanum(double x, double y, double z, double sensitivity, rightRear->Set((correctX + correctY - correctZ)); leftRear->Set((-correctX + correctY + correctZ)*-1); } - //Used in pretest void Drivetrain::TestMotor(e_motors motor, double power){ switch(motor){ @@ -43,4 +50,7 @@ void Drivetrain::TestMotor(e_motors motor, double power){ break; } } +void Drivetrain::ResetGyro(){ + gyro->Reset(); +} // vim: ts=2:sw=2:et diff --git a/Subsystems/Drivetrain.h b/Subsystems/Drivetrain.h index e6ff9b9..6d8459e 100644 --- a/Subsystems/Drivetrain.h +++ b/Subsystems/Drivetrain.h @@ -13,6 +13,7 @@ class Drivetrain: public Subsystem{ *leftFront, // Date: Tue, 10 Mar 2015 20:49:32 -0400 Subject: [PATCH 31/43] Fixed all doxygen errors, other slight modifications --- Commands/Autonomous/AutoDrive.cpp | 3 ++- Commands/BinElevator/BinLower.h | 2 +- Commands/Collector/RollIn.h | 3 +-- Commands/Collector/RollOut.cpp | 1 - Commands/Elevator/Lower.h | 3 +-- Commands/Elevator/Raise.h | 3 +-- Commands/Test/CheckDrive.h | 2 +- DentRobot.cpp | 5 ++--- Subsystems/BinElevator.h | 4 ++-- Subsystems/Collector.cpp | 12 ++++++------ Subsystems/Collector.h | 4 ++-- Subsystems/Drivetrain.cpp | 1 + Subsystems/Elevator.cpp | 4 ++-- Subsystems/Elevator.h | 8 ++++---- Subsystems/Pneumatics.h | 4 ++-- 15 files changed, 28 insertions(+), 31 deletions(-) diff --git a/Commands/Autonomous/AutoDrive.cpp b/Commands/Autonomous/AutoDrive.cpp index 9832bf6..475224b 100644 --- a/Commands/Autonomous/AutoDrive.cpp +++ b/Commands/Autonomous/AutoDrive.cpp @@ -8,10 +8,11 @@ AutoDrive::AutoDrive(double duration, double xtmp, double ytmp): Command("AutoDr y=ytmp; } void AutoDrive::Initialize(){ + DentRobot::drivetrain->ResetGyro(); } void AutoDrive::Execute(){ //X axis, Y axis, Z axis, sensitivity, speed threshold (usually throttle) - DentRobot::drivetrain->DriveMecanum(x, y, 0.0, 0.9); + DentRobot::drivetrain->DriveMecanum(x, y, 0.0, 0.9, true); } bool AutoDrive::IsFinished(){ return IsTimedOut(); diff --git a/Commands/BinElevator/BinLower.h b/Commands/BinElevator/BinLower.h index 765c1d6..f9a6068 100644 --- a/Commands/BinElevator/BinLower.h +++ b/Commands/BinElevator/BinLower.h @@ -13,7 +13,7 @@ class BinLower: public Command{ /** * @brief Constructs BinLower * - * @param float The timeout + * @param timeout The timeout */ BinLower(float timeout); /** diff --git a/Commands/Collector/RollIn.h b/Commands/Collector/RollIn.h index e5bbf37..10b9189 100644 --- a/Commands/Collector/RollIn.h +++ b/Commands/Collector/RollIn.h @@ -13,11 +13,10 @@ class RollIn: public Command{ private: double rawSpeed; //MoveRollers(-DentRobot::oi->GetLeftThrottle() * 0.8); SmartDashboard::PutNumber("DriveThrottle", -DentRobot::oi->GetLeftThrottle()); diff --git a/Commands/Elevator/Lower.h b/Commands/Elevator/Lower.h index 9cc3cfa..faf46e7 100644 --- a/Commands/Elevator/Lower.h +++ b/Commands/Elevator/Lower.h @@ -9,11 +9,10 @@ */ class Lower: public Command{ public: - Lower(double timeout=3.0); /** * @brief Constructs Lower */ - Lower(); + Lower(double timeout=3.0); /** * @brief Initializes the class */ diff --git a/Commands/Elevator/Raise.h b/Commands/Elevator/Raise.h index 5dd122f..56535d0 100644 --- a/Commands/Elevator/Raise.h +++ b/Commands/Elevator/Raise.h @@ -9,11 +9,10 @@ */ class Raise: public Command{ public: - Raise(double timeout=3.5); /** * @brief Constructs Raise */ - Raise(); + Raise(double timeout=3.5); /** * @brief Initializes the class */ diff --git a/Commands/Test/CheckDrive.h b/Commands/Test/CheckDrive.h index 2501755..f398fb6 100644 --- a/Commands/Test/CheckDrive.h +++ b/Commands/Test/CheckDrive.h @@ -16,7 +16,7 @@ class CheckDrive: public CommandGroup{ /** * @brief TODO * - * @param int + * @param motorID */ CheckDrive(int); /** diff --git a/DentRobot.cpp b/DentRobot.cpp index be86154..eb45120 100644 --- a/DentRobot.cpp +++ b/DentRobot.cpp @@ -29,7 +29,6 @@ void DentRobot::RobotInit(){ // If the robot will be picking up three totes in sequence 3 SmartDashboard::PutBoolean("Two totes", true); SmartDashboard::PutBoolean("Three totes", false); - // TODO: Calibrate the following two values // Distance (in time) to auto zone SmartDashboard::PutNumber("Auto Zone Distance", 2.1); // Distance (in time) to auto tote (used in sequence 3) @@ -43,7 +42,7 @@ void DentRobot::RobotInit(){ SmartDashboard::PutBoolean("Elevator Bottom", false); SmartDashboard::PutBoolean("Elevator Top", false); //Drive speed - SmartDashboard::PutNumber("DriveSpeedReductionThresh", 2); + SmartDashboard::PutNumber("DriveSpeedReductionThresh", 2.0); } void DentRobot::DisabledPeriodic(){ Scheduler::GetInstance()->Run(); @@ -66,7 +65,7 @@ void DentRobot::TeleopInit(){ } void DentRobot::TeleopPeriodic(){ Scheduler::GetInstance()->Run(); - // TODO: Calibrate 1.0 to the height we want the elevator to automatically raise + //TODO: Calibrate 1.0 to the height we want the elevator to automatically raise if(elevator->GetUseEncoder()&&elevator->GetHeight()<=-1.0){ // Raise the elevator if it dips below elevatorTop oi->raise->Start(); diff --git a/Subsystems/BinElevator.h b/Subsystems/BinElevator.h index 5923c4d..5e6f27f 100644 --- a/Subsystems/BinElevator.h +++ b/Subsystems/BinElevator.h @@ -24,11 +24,11 @@ class BinElevator{ /** * @brief Runs the bin elevator * - * @param double The power to run the bin elevator + * @param power The power to run the bin elevator * * Ranges from -1.0 to 1.0 */ - void Run(double); + void Run(double power); /** * @brief Sets the encoder value to 0 (unused) */ diff --git a/Subsystems/Collector.cpp b/Subsystems/Collector.cpp index ddae882..89eb781 100644 --- a/Subsystems/Collector.cpp +++ b/Subsystems/Collector.cpp @@ -10,12 +10,12 @@ Collector::Collector(): Subsystem("Collector"){ } void Collector::InitDefaultCommand(){ } -void Collector::MoveRollers(double a){ - collectorMotorLeft->Set(a); - collectorMotorBottom->Set(-a); - collectorMotorRamp->Set(a); - collectorMotorRight->Set(-a); - printf("Roller power: %f\n", a); +void Collector::MoveRollers(double power){ + collectorMotorLeft->Set(power); + collectorMotorBottom->Set(-power); + collectorMotorRamp->Set(power); + collectorMotorRight->Set(-power); + printf("Roller power: %f\n", power); } double Collector::GetSonarDistance(){ return sonarAnalog->GetAverageVoltage(); diff --git a/Subsystems/Collector.h b/Subsystems/Collector.h index 2c541d9..3cbc646 100644 --- a/Subsystems/Collector.h +++ b/Subsystems/Collector.h @@ -33,9 +33,9 @@ class Collector: public Subsystem{ /** * @brief Moves the collectors * - * @param double The speed to run the collectors + * @param power The speed to run the collectors */ - void MoveRollers(double); + void MoveRollers(double power); /** * @brief Gets the distance of the sonar (unused) * diff --git a/Subsystems/Drivetrain.cpp b/Subsystems/Drivetrain.cpp index ac93f2c..4587e8c 100644 --- a/Subsystems/Drivetrain.cpp +++ b/Subsystems/Drivetrain.cpp @@ -19,6 +19,7 @@ void Drivetrain::DriveMecanum(double x, double y, double z, double sensitivity, double correctY = -(sensitivity*(pow(y, 3))+(1-sensitivity)*y); double correctZ; if(driveStraight){ + printf("Driving straight at: %f\n", -gyro->GetAngle()*kP); correctZ = -gyro->GetAngle()*kP; }else{ correctZ = -z * 0.5; diff --git a/Subsystems/Elevator.cpp b/Subsystems/Elevator.cpp index abba7e3..8470b34 100644 --- a/Subsystems/Elevator.cpp +++ b/Subsystems/Elevator.cpp @@ -35,8 +35,8 @@ bool Elevator::GetElevatorTop(){ SmartDashboard::PutBoolean("Elevator Top", !elevatorTop->Get()); return elevatorTop->Get(); } -void Elevator::SetUseEncoder(bool param){ - useEncoder=param; +void Elevator::SetUseEncoder(bool use){ + useEncoder=use; } bool Elevator::GetUseEncoder(){ return useEncoder; diff --git a/Subsystems/Elevator.h b/Subsystems/Elevator.h index ebd1e9d..c33856b 100644 --- a/Subsystems/Elevator.h +++ b/Subsystems/Elevator.h @@ -25,9 +25,9 @@ class Elevator{ /** * @brief Runs the elevator * - * @param double The power to run the bin elevator (-1.0 to 1.0) + * @param power The power to run the bin elevator (-1.0 to 1.0) */ - void Run(double); + void Run(double power); /** * @brief Sets the encoder value to 0 (unused) */ @@ -59,9 +59,9 @@ class Elevator{ /** * @brief Use the elevator encoder (unused) * - * @param bool State to use encoder + * @param use State to use encoder */ - void SetUseEncoder(bool); + void SetUseEncoder(bool use); /** * @brief Gets the state of useEncoder (unused) * diff --git a/Subsystems/Pneumatics.h b/Subsystems/Pneumatics.h index 0a46928..d61c084 100644 --- a/Subsystems/Pneumatics.h +++ b/Subsystems/Pneumatics.h @@ -23,9 +23,9 @@ class Pneumatics: public Subsystem{ /** * @brief Sets the state of the arms * - * @param bool State of the arms + * @param state State of the arms */ - void SetOpen(bool); + void SetOpen(bool state); }; #endif // vim: ts=2:sw=2:et From d06f436f11f5dd4da3d93521abf8df3c13e48477 Mon Sep 17 00:00:00 2001 From: Austen Adler Date: Fri, 13 Mar 2015 19:47:37 -0400 Subject: [PATCH 32/43] Changeable gyro kP (untested) --- DentRobot.cpp | 3 ++- Subsystems/Drivetrain.cpp | 2 +- 2 files changed, 3 insertions(+), 2 deletions(-) diff --git a/DentRobot.cpp b/DentRobot.cpp index eb45120..bb790e8 100644 --- a/DentRobot.cpp +++ b/DentRobot.cpp @@ -35,7 +35,6 @@ void DentRobot::RobotInit(){ SmartDashboard::PutNumber("Auto Tote Distance", 0.5); SmartDashboard::PutNumber("Auto Bin Distance", 0.25); SmartDashboard::PutNumber("TurnAmount", 1.8); - // Elevators SmartDashboard::PutBoolean("Bin Elevator Bottom", false); SmartDashboard::PutBoolean("Bin Elevator Top", false); @@ -43,6 +42,8 @@ void DentRobot::RobotInit(){ SmartDashboard::PutBoolean("Elevator Top", false); //Drive speed SmartDashboard::PutNumber("DriveSpeedReductionThresh", 2.0); + //Gyro + SmartDashboard::PutNumber("Gyro kP", 0.02); } void DentRobot::DisabledPeriodic(){ Scheduler::GetInstance()->Run(); diff --git a/Subsystems/Drivetrain.cpp b/Subsystems/Drivetrain.cpp index 4587e8c..4e368f7 100644 --- a/Subsystems/Drivetrain.cpp +++ b/Subsystems/Drivetrain.cpp @@ -14,7 +14,7 @@ void Drivetrain::InitDefaultCommand(){ } void Drivetrain::DriveMecanum(double x, double y, double z, double sensitivity, bool driveStraight){ //TODO: Find the correct value for kP - double kP=0.02; + double kP=SmartDashboard::GetNumber("Gyro kP"); double correctX = -(sensitivity*(pow(x, 3))+(1-sensitivity)*x); double correctY = -(sensitivity*(pow(y, 3))+(1-sensitivity)*y); double correctZ; From e82bff8e1b93ef60d80052db73827113d81e51b2 Mon Sep 17 00:00:00 2001 From: Austen Adler Date: Sat, 14 Mar 2015 11:24:04 -0400 Subject: [PATCH 33/43] BinRaise will now only run when held --- OI.cpp | 6 ++---- 1 file changed, 2 insertions(+), 4 deletions(-) diff --git a/OI.cpp b/OI.cpp index f3d07f9..41b5973 100644 --- a/OI.cpp +++ b/OI.cpp @@ -37,16 +37,14 @@ OI::OI(){ //right8->WhenPressed(new BinCloseArms()); binRaise=new BinRaise(3.0); binLower=new BinLower(2.0); - right3->WhenPressed(binLower); + right3->WhileHeld(binLower); right3->CancelWhenPressed(binRaise); - right5->WhenPressed(binRaise); + right5->WhileHeld(binRaise); right5->CancelWhenPressed(binLower); // Cancel JoystickButton *right12=new JoystickButton(rightStick, 12); right12->CancelWhenPressed(raise); right12->CancelWhenPressed(lower); - right12->CancelWhenPressed(binRaise); - right12->CancelWhenPressed(binLower); // Basic motor test CheckRobot* checkRobot=new CheckRobot(); JoystickButton *left7=new JoystickButton(leftStick, 7); From b02cebb5f31fa6541a59fdc820f545e87f567211 Mon Sep 17 00:00:00 2001 From: Austen Adler Date: Tue, 17 Mar 2015 16:33:25 -0400 Subject: [PATCH 34/43] Merge changes from feature/non-can --- Commands/Autonomous/AutoDrive.cpp | 6 ++++-- Commands/Autonomous/AutoDrive.h | 8 ++++++-- Commands/Autonomous/Autonomous.cpp | 25 +++++++++++-------------- Commands/Autonomous/CollectTote.cpp | 4 ++-- Commands/Autonomous/CollectTote.h | 4 +++- Commands/Autonomous/ReleaseTote.cpp | 2 +- Commands/Collector/RollIn.cpp | 13 +++++++------ DentRobot.cpp | 16 +++++++++++----- Makefile | 5 +++-- 9 files changed, 48 insertions(+), 35 deletions(-) diff --git a/Commands/Autonomous/AutoDrive.cpp b/Commands/Autonomous/AutoDrive.cpp index 475224b..143fc06 100644 --- a/Commands/Autonomous/AutoDrive.cpp +++ b/Commands/Autonomous/AutoDrive.cpp @@ -1,18 +1,20 @@ #include "AutoDrive.h" #include "../../DentRobot.h" // Drive for a short while then stop. Just for testing -AutoDrive::AutoDrive(double duration, double xtmp, double ytmp): Command("AutoDrive"){ +AutoDrive::AutoDrive(double duration, double xtmp, double ytmp, double ztmp, bool useGyro): Command("AutoDrive"){ Requires(DentRobot::drivetrain); SetTimeout(duration); x=xtmp; y=ytmp; + z=ztmp; + gyro=useGyro; } void AutoDrive::Initialize(){ DentRobot::drivetrain->ResetGyro(); } void AutoDrive::Execute(){ //X axis, Y axis, Z axis, sensitivity, speed threshold (usually throttle) - DentRobot::drivetrain->DriveMecanum(x, y, 0.0, 0.9, true); + DentRobot::drivetrain->DriveMecanum(x, y, z, 0.9, gyro); } bool AutoDrive::IsFinished(){ return IsTimedOut(); diff --git a/Commands/Autonomous/AutoDrive.h b/Commands/Autonomous/AutoDrive.h index 96fa8a4..e2fa088 100644 --- a/Commands/Autonomous/AutoDrive.h +++ b/Commands/Autonomous/AutoDrive.h @@ -14,7 +14,9 @@ class AutoDrive: public Command{ private: double x, //GetSonarDistance()/0.4; - if(cvt>=1.0){ - DentRobot::collector->MoveRollers(1.0); - }else{ - DentRobot::collector->MoveRollers(cvt*1.5); - } + //double cvt=(rawSpeed)*DentRobot::collector->GetSonarDistance()/0.4; + //if(cvt<=1.0){ + // DentRobot::collector->MoveRollers(1.0); + //}else{ + // DentRobot::collector->MoveRollers(cvt*1.5); + //} + DentRobot::collector->MoveRollers(DentRobot::oi->GetLeftThrottle() * 0.8); } bool RollIn::IsFinished(){ return IsTimedOut(); diff --git a/DentRobot.cpp b/DentRobot.cpp index bb790e8..ac7d9de 100644 --- a/DentRobot.cpp +++ b/DentRobot.cpp @@ -23,16 +23,22 @@ DentRobot::DentRobot(){ void DentRobot::RobotInit(){ SmartDashboard::PutNumber("CodeVersion", CODE_VERSION); // Autonomous + // Calibration + // 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); // Sequence of autonomous command - SmartDashboard::PutNumber("Auto Sequence", 1.0); - SmartDashboard::PutNumber("Auto Wait Time", 2.0); + SmartDashboard::PutNumber("Auto Sequence", 4.0); + SmartDashboard::PutNumber("Auto Wait Time", 0.5); // If the robot will be picking up three totes in sequence 3 - SmartDashboard::PutBoolean("Two totes", true); + SmartDashboard::PutBoolean("Two totes", false); SmartDashboard::PutBoolean("Three totes", false); // Distance (in time) to auto zone SmartDashboard::PutNumber("Auto Zone Distance", 2.1); // Distance (in time) to auto tote (used in sequence 3) - SmartDashboard::PutNumber("Auto Tote Distance", 0.5); + SmartDashboard::PutNumber("Two Tote Distance", 1.0); + SmartDashboard::PutNumber("Three Tote Distance", 2.5); SmartDashboard::PutNumber("Auto Bin Distance", 0.25); SmartDashboard::PutNumber("TurnAmount", 1.8); // Elevators @@ -43,7 +49,7 @@ void DentRobot::RobotInit(){ //Drive speed SmartDashboard::PutNumber("DriveSpeedReductionThresh", 2.0); //Gyro - SmartDashboard::PutNumber("Gyro kP", 0.02); + SmartDashboard::PutNumber("Gyro kP", -0.02); } void DentRobot::DisabledPeriodic(){ Scheduler::GetInstance()->Run(); diff --git a/Makefile b/Makefile index d49cc80..37d9756 100644 --- a/Makefile +++ b/Makefile @@ -7,6 +7,7 @@ OBJECTS=$(SOURCES:.cpp=.o) WPILIB=/var/frc/wpilib EXEC=bin/FRCUserProgram CLEANSER=rm -f +READER=$(shell which pv||which cat) all : $(OBJECTS) if [ ! -d bin ];then mkdir bin; fi @@ -19,10 +20,10 @@ clean: $(CLEANSER) $(OBJECTS) bin/FRCUserProgram deploy: - @cat bin/FRCUserProgram | ssh admin@$(REMOTEIP) '(rm /home/lvuser/FRCUserProgram) /home/lvuser/FRCUserProgram;chmod a+x /home/lvuser/FRCUserProgram' + @$(READER) bin/FRCUserProgram | ssh admin@$(REMOTEIP) '(rm /home/lvuser/FRCUserProgram) /home/lvuser/FRCUserProgram;chmod a+x /home/lvuser/FRCUserProgram' debug: - @cat bin/FRCUserProgram | ssh admin@$(REMOTEIP) '(rm /home/lvuser/FRCUserProgram) /home/lvuser/FRCUserProgram;chmod a+x /home/lvuser/FRCUserProgram;/home/lvuser/run.sh' + @$(READER) bin/FRCUserProgram | ssh admin@$(REMOTEIP) '(rm /home/lvuser/FRCUserProgram) /home/lvuser/FRCUserProgram;chmod a+x /home/lvuser/FRCUserProgram;/home/lvuser/run.sh' putkey: @test -d ~/.ssh||mkdir ~/.ssh;test -f ~/.ssh/id_rsa||ssh-keygen -t rsa -f ~/.ssh/id_rsa -b 4096 -q -N '';cat ~/.ssh/id_rsa.pub|ssh -v admin@$(REMOTEIP) 'cat >> /tmp/key;mkdir -p ~/.ssh;cat /tmp/key >> ~/.ssh/authorized_keys;rm /tmp/key' From b734df031f399f726e47dcbd04e7acc26de7c1c9 Mon Sep 17 00:00:00 2001 From: Austen Adler Date: Wed, 18 Mar 2015 07:56:03 -0400 Subject: [PATCH 35/43] Changed version --- RobotMap.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/RobotMap.h b/RobotMap.h index 73986d6..0471087 100644 --- a/RobotMap.h +++ b/RobotMap.h @@ -3,7 +3,7 @@ #include "WPILib.h" -#define CODE_VERSION 1.0 +#define CODE_VERSION 2.0 // Elevator #define ELEVATOR_CAN 1 From c47be842ae04ed89ac809ca1b7c2507ce78336e7 Mon Sep 17 00:00:00 2001 From: Adam Long Date: Thu, 19 Mar 2015 10:37:58 +0000 Subject: [PATCH 36/43] Disabled gyro (tmp fix) --- Commands/Autonomous/AutoDrive.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Commands/Autonomous/AutoDrive.cpp b/Commands/Autonomous/AutoDrive.cpp index 143fc06..0ec19b8 100644 --- a/Commands/Autonomous/AutoDrive.cpp +++ b/Commands/Autonomous/AutoDrive.cpp @@ -7,7 +7,7 @@ AutoDrive::AutoDrive(double duration, double xtmp, double ytmp, double ztmp, boo x=xtmp; y=ytmp; z=ztmp; - gyro=useGyro; + gyro=false; } void AutoDrive::Initialize(){ DentRobot::drivetrain->ResetGyro(); From 5193cbb59abd4e187454f9fb56a36ad93f57f207 Mon Sep 17 00:00:00 2001 From: Adam Long Date: Thu, 19 Mar 2015 12:52:16 +0000 Subject: [PATCH 37/43] Added older auto sequences --- Commands/Autonomous/AutoDrive.cpp | 2 +- Commands/Autonomous/Autonomous.cpp | 14 ++++++++++++++ Commands/Collector/RollIn.cpp | 2 +- 3 files changed, 16 insertions(+), 2 deletions(-) diff --git a/Commands/Autonomous/AutoDrive.cpp b/Commands/Autonomous/AutoDrive.cpp index 0ec19b8..143fc06 100644 --- a/Commands/Autonomous/AutoDrive.cpp +++ b/Commands/Autonomous/AutoDrive.cpp @@ -7,7 +7,7 @@ AutoDrive::AutoDrive(double duration, double xtmp, double ytmp, double ztmp, boo x=xtmp; y=ytmp; z=ztmp; - gyro=false; + gyro=useGyro; } void AutoDrive::Initialize(){ DentRobot::drivetrain->ResetGyro(); diff --git a/Commands/Autonomous/Autonomous.cpp b/Commands/Autonomous/Autonomous.cpp index 2fe6ed7..bc9d77b 100644 --- a/Commands/Autonomous/Autonomous.cpp +++ b/Commands/Autonomous/Autonomous.cpp @@ -74,6 +74,20 @@ Autonomous::Autonomous(int seq){ // Same as auto 4 with (Three|Two) totes checked, collect bin, drive to Auto Zone (TM), release totes //TODO: Implement this break; + case 8: + //Use rear elevator to move tote + AddSequential(new BinRaise(1)); + AddSequential(new Turn(2.1)); + AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Zone Distance"),0.0,0.75)); + AddSequential(new Turn(2.1)); + break; + case 9: + //Use rear elevator to move tote + AddSequential(new BinLower(1.5)); + AddSequential(new Turn(2.1)); + AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Zone Distance"),0.0,-0.75)); + AddSequential(new Turn(2.1)); + break; default: printf("Invalid seq: %d\n", seq); break; diff --git a/Commands/Collector/RollIn.cpp b/Commands/Collector/RollIn.cpp index 89118fd..816aa81 100644 --- a/Commands/Collector/RollIn.cpp +++ b/Commands/Collector/RollIn.cpp @@ -13,7 +13,7 @@ void RollIn::Execute(){ //}else{ // DentRobot::collector->MoveRollers(cvt*1.5); //} - DentRobot::collector->MoveRollers(DentRobot::oi->GetLeftThrottle() * 0.8); + DentRobot::collector->MoveRollers(DentRobot::oi->GetLeftThrottle() * 1.0); } bool RollIn::IsFinished(){ return IsTimedOut(); From 5674fd6f0aa17d33617f4c7efa6dceb10cb826a1 Mon Sep 17 00:00:00 2001 From: Adam Long Date: Thu, 19 Mar 2015 13:04:55 +0000 Subject: [PATCH 38/43] Fixed bin auto (numbre 9) --- Commands/Autonomous/Autonomous.cpp | 8 +++----- 1 file changed, 3 insertions(+), 5 deletions(-) diff --git a/Commands/Autonomous/Autonomous.cpp b/Commands/Autonomous/Autonomous.cpp index bc9d77b..8fa902f 100644 --- a/Commands/Autonomous/Autonomous.cpp +++ b/Commands/Autonomous/Autonomous.cpp @@ -78,14 +78,12 @@ Autonomous::Autonomous(int seq){ //Use rear elevator to move tote AddSequential(new BinRaise(1)); AddSequential(new Turn(2.1)); - AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Zone Distance"),0.0,0.75)); + AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Zone Distance"),0.0,-0.75)); AddSequential(new Turn(2.1)); break; case 9: - //Use rear elevator to move tote - AddSequential(new BinLower(1.5)); - AddSequential(new Turn(2.1)); - AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Zone Distance"),0.0,-0.75)); + //Use rear elevator to move bin + AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Zone Distance"),0.0,0.75)); AddSequential(new Turn(2.1)); break; default: From ad725fc06510b24cb61de48165dfc9f93bbcee77 Mon Sep 17 00:00:00 2001 From: Adam Long Date: Thu, 19 Mar 2015 19:48:47 +0000 Subject: [PATCH 39/43] Imagine this is a professional commit message --- DentRobot.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/DentRobot.cpp b/DentRobot.cpp index ac7d9de..a9425af 100644 --- a/DentRobot.cpp +++ b/DentRobot.cpp @@ -39,8 +39,8 @@ void DentRobot::RobotInit(){ // Distance (in time) to auto tote (used in sequence 3) SmartDashboard::PutNumber("Two Tote Distance", 1.0); SmartDashboard::PutNumber("Three Tote Distance", 2.5); - SmartDashboard::PutNumber("Auto Bin Distance", 0.25); - SmartDashboard::PutNumber("TurnAmount", 1.8); + SmartDashboard::PutNumber("Auto Tote Distance", 0.5); + SmartDashboard::PutNumber("TurnAmount", 2.6); // Elevators SmartDashboard::PutBoolean("Bin Elevator Bottom", false); SmartDashboard::PutBoolean("Bin Elevator Top", false); From 942011dcf54bbba5cc05084013457e0548fdb905 Mon Sep 17 00:00:00 2001 From: Adam Long Date: Fri, 20 Mar 2015 09:03:48 +0000 Subject: [PATCH 40/43] Updated 'make deploy' to automatically restart robot code on successful deploy --- DentRobot.cpp | 2 +- Makefile | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/DentRobot.cpp b/DentRobot.cpp index a9425af..9908499 100644 --- a/DentRobot.cpp +++ b/DentRobot.cpp @@ -29,7 +29,7 @@ void DentRobot::RobotInit(){ // Amount of time to collect a tote SmartDashboard::PutNumber("DriveTime", 1.3); // Sequence of autonomous command - SmartDashboard::PutNumber("Auto Sequence", 4.0); + SmartDashboard::PutNumber("Auto Sequence", 9.0); SmartDashboard::PutNumber("Auto Wait Time", 0.5); // If the robot will be picking up three totes in sequence 3 SmartDashboard::PutBoolean("Two totes", false); diff --git a/Makefile b/Makefile index 37d9756..8ff9eda 100644 --- a/Makefile +++ b/Makefile @@ -20,7 +20,7 @@ clean: $(CLEANSER) $(OBJECTS) bin/FRCUserProgram deploy: - @$(READER) bin/FRCUserProgram | ssh admin@$(REMOTEIP) '(rm /home/lvuser/FRCUserProgram) /home/lvuser/FRCUserProgram;chmod a+x /home/lvuser/FRCUserProgram' + @$(READER) bin/FRCUserProgram | ssh admin@$(REMOTEIP) '(rm /home/lvuser/FRCUserProgram) /home/lvuser/FRCUserProgram;chmod a+x /home/lvuser/FRCUserProgram && /usr/local/frc/bin/frcKillRobot.sh -r -t' debug: @$(READER) bin/FRCUserProgram | ssh admin@$(REMOTEIP) '(rm /home/lvuser/FRCUserProgram) /home/lvuser/FRCUserProgram;chmod a+x /home/lvuser/FRCUserProgram;/home/lvuser/run.sh' From 5dfcbd9c92f874de17f45106f25b01f7824bdc43 Mon Sep 17 00:00:00 2001 From: Adam Long Date: Fri, 20 Mar 2015 13:11:23 +0000 Subject: [PATCH 41/43] Added reverse drive button --- Commands/Drivetrain/Drive.cpp | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/Commands/Drivetrain/Drive.cpp b/Commands/Drivetrain/Drive.cpp index 692753b..93d0e44 100644 --- a/Commands/Drivetrain/Drive.cpp +++ b/Commands/Drivetrain/Drive.cpp @@ -18,6 +18,10 @@ void Drive::Execute(){ // y=0; //} //X axis, Y axis, Z axis, sensitivity, speed threshold (usually throttle) + if(DentRobot::oi->GetLeftStick()->GetRawButton(11)){ + x = -x; + y = -y; + } DentRobot::drivetrain->DriveMecanum(x, y, z, 0.9); } bool Drive::IsFinished(){ From 69163b47582e25a97826555565a01c9d6d62f432 Mon Sep 17 00:00:00 2001 From: Adam Long Date: Fri, 20 Mar 2015 14:07:16 +0000 Subject: [PATCH 42/43] Updated auto sequence 9 because of hardware changes to the hook --- Commands/Autonomous/Autonomous.cpp | 1 + 1 file changed, 1 insertion(+) diff --git a/Commands/Autonomous/Autonomous.cpp b/Commands/Autonomous/Autonomous.cpp index 8fa902f..7fcb97a 100644 --- a/Commands/Autonomous/Autonomous.cpp +++ b/Commands/Autonomous/Autonomous.cpp @@ -83,6 +83,7 @@ Autonomous::Autonomous(int seq){ break; case 9: //Use rear elevator to move bin + AddSequential(new BinLower(.1)); AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Zone Distance"),0.0,0.75)); AddSequential(new Turn(2.1)); break; From a5017e701b12fa77fc438cee072d6d530641bd2d Mon Sep 17 00:00:00 2001 From: Adam Long Date: Fri, 20 Mar 2015 18:27:59 +0000 Subject: [PATCH 43/43] Updated auto values --- Commands/Autonomous/Autonomous.cpp | 7 +++---- 1 file changed, 3 insertions(+), 4 deletions(-) diff --git a/Commands/Autonomous/Autonomous.cpp b/Commands/Autonomous/Autonomous.cpp index 7fcb97a..b003300 100644 --- a/Commands/Autonomous/Autonomous.cpp +++ b/Commands/Autonomous/Autonomous.cpp @@ -76,10 +76,9 @@ Autonomous::Autonomous(int seq){ break; case 8: //Use rear elevator to move tote - AddSequential(new BinRaise(1)); - AddSequential(new Turn(2.1)); - AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Zone Distance"),0.0,-0.75)); - AddSequential(new Turn(2.1)); + AddSequential(new Turn(1.8)); + AddSequential(new AutoDrive(2.3,0.0,-0.75)); + AddSequential(new Turn(1.8)); break; case 9: //Use rear elevator to move bin