mirror of
https://github.com/team2059/Dent
synced 2024-12-18 20:52:29 -05:00
Fixed all doxygen errors, other slight modifications
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parent
4a2cf10c22
commit
49ad9dac39
@ -8,10 +8,11 @@ AutoDrive::AutoDrive(double duration, double xtmp, double ytmp): Command("AutoDr
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y=ytmp;
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y=ytmp;
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}
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}
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void AutoDrive::Initialize(){
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void AutoDrive::Initialize(){
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DentRobot::drivetrain->ResetGyro();
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}
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}
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void AutoDrive::Execute(){
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void AutoDrive::Execute(){
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//X axis, Y axis, Z axis, sensitivity, speed threshold (usually throttle)
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//X axis, Y axis, Z axis, sensitivity, speed threshold (usually throttle)
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DentRobot::drivetrain->DriveMecanum(x, y, 0.0, 0.9);
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DentRobot::drivetrain->DriveMecanum(x, y, 0.0, 0.9, true);
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}
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}
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bool AutoDrive::IsFinished(){
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bool AutoDrive::IsFinished(){
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return IsTimedOut();
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return IsTimedOut();
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@ -13,7 +13,7 @@ class BinLower: public Command{
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/**
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/**
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* @brief Constructs BinLower
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* @brief Constructs BinLower
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*
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*
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* @param float The timeout
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* @param timeout The timeout
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*/
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*/
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BinLower(float timeout);
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BinLower(float timeout);
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/**
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/**
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@ -13,11 +13,10 @@ class RollIn: public Command{
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private:
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private:
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double rawSpeed; //<! Raw speed of the collector
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double rawSpeed; //<! Raw speed of the collector
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public:
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public:
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RollIn();
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/**
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/**
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* @brief Constructs RollIn
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* @brief Constructs RollIn
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*
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*
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* @param double Speed to roll the collector
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* @param speed Speed to roll the collector
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*/
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*/
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RollIn(double speed);
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RollIn(double speed);
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/**
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/**
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@ -6,7 +6,6 @@ RollOut::RollOut(double timeout): Command("RollOut"){
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void RollOut::Initialize(){
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void RollOut::Initialize(){
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}
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}
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void RollOut::Execute(){
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void RollOut::Execute(){
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//TODO check this value to move the motors in the right direction
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// Divide by 2 twice because this speed should be half the collector speed
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// Divide by 2 twice because this speed should be half the collector speed
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DentRobot::collector->MoveRollers(-DentRobot::oi->GetLeftThrottle() * 0.8);
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DentRobot::collector->MoveRollers(-DentRobot::oi->GetLeftThrottle() * 0.8);
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SmartDashboard::PutNumber("DriveThrottle", -DentRobot::oi->GetLeftThrottle());
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SmartDashboard::PutNumber("DriveThrottle", -DentRobot::oi->GetLeftThrottle());
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@ -9,11 +9,10 @@
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*/
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*/
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class Lower: public Command{
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class Lower: public Command{
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public:
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public:
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Lower(double timeout=3.0);
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/**
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/**
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* @brief Constructs Lower
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* @brief Constructs Lower
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*/
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*/
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Lower();
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Lower(double timeout=3.0);
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/**
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/**
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* @brief Initializes the class
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* @brief Initializes the class
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*/
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*/
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@ -9,11 +9,10 @@
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*/
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*/
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class Raise: public Command{
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class Raise: public Command{
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public:
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public:
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Raise(double timeout=3.5);
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/**
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/**
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* @brief Constructs Raise
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* @brief Constructs Raise
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*/
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*/
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Raise();
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Raise(double timeout=3.5);
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/**
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/**
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* @brief Initializes the class
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* @brief Initializes the class
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*/
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*/
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@ -16,7 +16,7 @@ class CheckDrive: public CommandGroup{
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/**
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/**
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* @brief TODO
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* @brief TODO
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*
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*
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* @param int
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* @param motorID
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*/
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*/
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CheckDrive(int);
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CheckDrive(int);
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/**
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/**
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@ -29,7 +29,6 @@ void DentRobot::RobotInit(){
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// If the robot will be picking up three totes in sequence 3
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// If the robot will be picking up three totes in sequence 3
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SmartDashboard::PutBoolean("Two totes", true);
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SmartDashboard::PutBoolean("Two totes", true);
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SmartDashboard::PutBoolean("Three totes", false);
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SmartDashboard::PutBoolean("Three totes", false);
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// TODO: Calibrate the following two values
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// Distance (in time) to auto zone
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// Distance (in time) to auto zone
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SmartDashboard::PutNumber("Auto Zone Distance", 2.1);
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SmartDashboard::PutNumber("Auto Zone Distance", 2.1);
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// Distance (in time) to auto tote (used in sequence 3)
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// Distance (in time) to auto tote (used in sequence 3)
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@ -43,7 +42,7 @@ void DentRobot::RobotInit(){
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SmartDashboard::PutBoolean("Elevator Bottom", false);
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SmartDashboard::PutBoolean("Elevator Bottom", false);
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SmartDashboard::PutBoolean("Elevator Top", false);
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SmartDashboard::PutBoolean("Elevator Top", false);
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//Drive speed
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//Drive speed
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SmartDashboard::PutNumber("DriveSpeedReductionThresh", 2);
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SmartDashboard::PutNumber("DriveSpeedReductionThresh", 2.0);
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}
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}
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void DentRobot::DisabledPeriodic(){
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void DentRobot::DisabledPeriodic(){
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Scheduler::GetInstance()->Run();
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Scheduler::GetInstance()->Run();
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@ -24,11 +24,11 @@ class BinElevator{
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/**
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/**
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* @brief Runs the bin elevator
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* @brief Runs the bin elevator
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*
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*
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* @param double The power to run the bin elevator
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* @param power The power to run the bin elevator
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*
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*
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* Ranges from -1.0 to 1.0
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* Ranges from -1.0 to 1.0
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*/
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*/
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void Run(double);
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void Run(double power);
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/**
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/**
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* @brief Sets the encoder value to 0 (unused)
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* @brief Sets the encoder value to 0 (unused)
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*/
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*/
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@ -10,12 +10,12 @@ Collector::Collector(): Subsystem("Collector"){
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}
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}
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void Collector::InitDefaultCommand(){
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void Collector::InitDefaultCommand(){
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}
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}
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void Collector::MoveRollers(double a){
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void Collector::MoveRollers(double power){
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collectorMotorLeft->Set(a);
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collectorMotorLeft->Set(power);
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collectorMotorBottom->Set(-a);
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collectorMotorBottom->Set(-power);
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collectorMotorRamp->Set(a);
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collectorMotorRamp->Set(power);
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collectorMotorRight->Set(-a);
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collectorMotorRight->Set(-power);
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printf("Roller power: %f\n", a);
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printf("Roller power: %f\n", power);
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}
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}
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double Collector::GetSonarDistance(){
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double Collector::GetSonarDistance(){
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return sonarAnalog->GetAverageVoltage();
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return sonarAnalog->GetAverageVoltage();
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@ -33,9 +33,9 @@ class Collector: public Subsystem{
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/**
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/**
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* @brief Moves the collectors
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* @brief Moves the collectors
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*
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*
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* @param double The speed to run the collectors
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* @param power The speed to run the collectors
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*/
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*/
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void MoveRollers(double);
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void MoveRollers(double power);
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/**
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/**
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* @brief Gets the distance of the sonar (unused)
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* @brief Gets the distance of the sonar (unused)
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*
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*
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@ -19,6 +19,7 @@ void Drivetrain::DriveMecanum(double x, double y, double z, double sensitivity,
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double correctY = -(sensitivity*(pow(y, 3))+(1-sensitivity)*y);
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double correctY = -(sensitivity*(pow(y, 3))+(1-sensitivity)*y);
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double correctZ;
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double correctZ;
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if(driveStraight){
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if(driveStraight){
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printf("Driving straight at: %f\n", -gyro->GetAngle()*kP);
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correctZ = -gyro->GetAngle()*kP;
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correctZ = -gyro->GetAngle()*kP;
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}else{
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}else{
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correctZ = -z * 0.5;
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correctZ = -z * 0.5;
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@ -35,8 +35,8 @@ bool Elevator::GetElevatorTop(){
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SmartDashboard::PutBoolean("Elevator Top", !elevatorTop->Get());
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SmartDashboard::PutBoolean("Elevator Top", !elevatorTop->Get());
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return elevatorTop->Get();
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return elevatorTop->Get();
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}
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}
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void Elevator::SetUseEncoder(bool param){
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void Elevator::SetUseEncoder(bool use){
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useEncoder=param;
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useEncoder=use;
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}
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}
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bool Elevator::GetUseEncoder(){
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bool Elevator::GetUseEncoder(){
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return useEncoder;
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return useEncoder;
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@ -25,9 +25,9 @@ class Elevator{
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/**
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/**
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* @brief Runs the elevator
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* @brief Runs the elevator
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*
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*
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* @param double The power to run the bin elevator (-1.0 to 1.0)
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* @param power The power to run the bin elevator (-1.0 to 1.0)
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*/
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*/
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void Run(double);
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void Run(double power);
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/**
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/**
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* @brief Sets the encoder value to 0 (unused)
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* @brief Sets the encoder value to 0 (unused)
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*/
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*/
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@ -59,9 +59,9 @@ class Elevator{
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/**
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/**
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* @brief Use the elevator encoder (unused)
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* @brief Use the elevator encoder (unused)
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*
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*
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* @param bool State to use encoder
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* @param use State to use encoder
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*/
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*/
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void SetUseEncoder(bool);
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void SetUseEncoder(bool use);
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/**
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/**
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* @brief Gets the state of useEncoder (unused)
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* @brief Gets the state of useEncoder (unused)
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*
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*
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@ -23,9 +23,9 @@ class Pneumatics: public Subsystem{
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/**
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/**
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* @brief Sets the state of the arms
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* @brief Sets the state of the arms
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*
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*
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* @param bool State of the arms
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* @param state State of the arms
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*/
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*/
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void SetOpen(bool);
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void SetOpen(bool state);
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};
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};
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#endif
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#endif
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// vim: ts=2:sw=2:et
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// vim: ts=2:sw=2:et
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