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mirror of https://github.com/team2059/Dent synced 2024-12-18 20:52:29 -05:00

Fixed all doxygen errors, other slight modifications

This commit is contained in:
Austen Adler 2015-03-10 20:49:32 -04:00
parent 4a2cf10c22
commit 49ad9dac39
15 changed files with 28 additions and 31 deletions

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@ -8,10 +8,11 @@ AutoDrive::AutoDrive(double duration, double xtmp, double ytmp): Command("AutoDr
y=ytmp; y=ytmp;
} }
void AutoDrive::Initialize(){ void AutoDrive::Initialize(){
DentRobot::drivetrain->ResetGyro();
} }
void AutoDrive::Execute(){ void AutoDrive::Execute(){
//X axis, Y axis, Z axis, sensitivity, speed threshold (usually throttle) //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(){ bool AutoDrive::IsFinished(){
return IsTimedOut(); return IsTimedOut();

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@ -13,7 +13,7 @@ class BinLower: public Command{
/** /**
* @brief Constructs BinLower * @brief Constructs BinLower
* *
* @param float The timeout * @param timeout The timeout
*/ */
BinLower(float timeout); BinLower(float timeout);
/** /**

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@ -13,11 +13,10 @@ class RollIn: public Command{
private: private:
double rawSpeed; //<! Raw speed of the collector double rawSpeed; //<! Raw speed of the collector
public: public:
RollIn();
/** /**
* @brief Constructs RollIn * @brief Constructs RollIn
* *
* @param double Speed to roll the collector * @param speed Speed to roll the collector
*/ */
RollIn(double speed); RollIn(double speed);
/** /**

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@ -6,7 +6,6 @@ RollOut::RollOut(double timeout): Command("RollOut"){
void RollOut::Initialize(){ void RollOut::Initialize(){
} }
void RollOut::Execute(){ void RollOut::Execute(){
//TODO check this value to move the motors in the right direction
// Divide 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); DentRobot::collector->MoveRollers(-DentRobot::oi->GetLeftThrottle() * 0.8);
SmartDashboard::PutNumber("DriveThrottle", -DentRobot::oi->GetLeftThrottle()); SmartDashboard::PutNumber("DriveThrottle", -DentRobot::oi->GetLeftThrottle());

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@ -9,11 +9,10 @@
*/ */
class Lower: public Command{ class Lower: public Command{
public: public:
Lower(double timeout=3.0);
/** /**
* @brief Constructs Lower * @brief Constructs Lower
*/ */
Lower(); Lower(double timeout=3.0);
/** /**
* @brief Initializes the class * @brief Initializes the class
*/ */

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@ -9,11 +9,10 @@
*/ */
class Raise: public Command{ class Raise: public Command{
public: public:
Raise(double timeout=3.5);
/** /**
* @brief Constructs Raise * @brief Constructs Raise
*/ */
Raise(); Raise(double timeout=3.5);
/** /**
* @brief Initializes the class * @brief Initializes the class
*/ */

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@ -16,7 +16,7 @@ class CheckDrive: public CommandGroup{
/** /**
* @brief TODO * @brief TODO
* *
* @param int * @param motorID
*/ */
CheckDrive(int); CheckDrive(int);
/** /**

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@ -29,7 +29,6 @@ void DentRobot::RobotInit(){
// If the robot will be picking up three totes in sequence 3 // If the robot will be picking up three totes in sequence 3
SmartDashboard::PutBoolean("Two totes", true); SmartDashboard::PutBoolean("Two totes", true);
SmartDashboard::PutBoolean("Three totes", false); SmartDashboard::PutBoolean("Three totes", false);
// TODO: Calibrate the following two values
// Distance (in time) to auto zone // Distance (in time) to auto zone
SmartDashboard::PutNumber("Auto Zone Distance", 2.1); SmartDashboard::PutNumber("Auto Zone Distance", 2.1);
// Distance (in time) to auto tote (used in sequence 3) // 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 Bottom", false);
SmartDashboard::PutBoolean("Elevator Top", false); SmartDashboard::PutBoolean("Elevator Top", false);
//Drive speed //Drive speed
SmartDashboard::PutNumber("DriveSpeedReductionThresh", 2); SmartDashboard::PutNumber("DriveSpeedReductionThresh", 2.0);
} }
void DentRobot::DisabledPeriodic(){ void DentRobot::DisabledPeriodic(){
Scheduler::GetInstance()->Run(); Scheduler::GetInstance()->Run();
@ -66,7 +65,7 @@ void DentRobot::TeleopInit(){
} }
void DentRobot::TeleopPeriodic(){ void DentRobot::TeleopPeriodic(){
Scheduler::GetInstance()->Run(); 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){ if(elevator->GetUseEncoder()&&elevator->GetHeight()<=-1.0){
// Raise the elevator if it dips below elevatorTop // Raise the elevator if it dips below elevatorTop
oi->raise->Start(); oi->raise->Start();

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@ -24,11 +24,11 @@ class BinElevator{
/** /**
* @brief Runs the bin elevator * @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 * Ranges from -1.0 to 1.0
*/ */
void Run(double); void Run(double power);
/** /**
* @brief Sets the encoder value to 0 (unused) * @brief Sets the encoder value to 0 (unused)
*/ */

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@ -10,12 +10,12 @@ Collector::Collector(): Subsystem("Collector"){
} }
void Collector::InitDefaultCommand(){ void Collector::InitDefaultCommand(){
} }
void Collector::MoveRollers(double a){ void Collector::MoveRollers(double power){
collectorMotorLeft->Set(a); collectorMotorLeft->Set(power);
collectorMotorBottom->Set(-a); collectorMotorBottom->Set(-power);
collectorMotorRamp->Set(a); collectorMotorRamp->Set(power);
collectorMotorRight->Set(-a); collectorMotorRight->Set(-power);
printf("Roller power: %f\n", a); printf("Roller power: %f\n", power);
} }
double Collector::GetSonarDistance(){ double Collector::GetSonarDistance(){
return sonarAnalog->GetAverageVoltage(); return sonarAnalog->GetAverageVoltage();

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@ -33,9 +33,9 @@ class Collector: public Subsystem{
/** /**
* @brief Moves the collectors * @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) * @brief Gets the distance of the sonar (unused)
* *

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@ -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 correctY = -(sensitivity*(pow(y, 3))+(1-sensitivity)*y);
double correctZ; double correctZ;
if(driveStraight){ if(driveStraight){
printf("Driving straight at: %f\n", -gyro->GetAngle()*kP);
correctZ = -gyro->GetAngle()*kP; correctZ = -gyro->GetAngle()*kP;
}else{ }else{
correctZ = -z * 0.5; correctZ = -z * 0.5;

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@ -35,8 +35,8 @@ bool Elevator::GetElevatorTop(){
SmartDashboard::PutBoolean("Elevator Top", !elevatorTop->Get()); SmartDashboard::PutBoolean("Elevator Top", !elevatorTop->Get());
return elevatorTop->Get(); return elevatorTop->Get();
} }
void Elevator::SetUseEncoder(bool param){ void Elevator::SetUseEncoder(bool use){
useEncoder=param; useEncoder=use;
} }
bool Elevator::GetUseEncoder(){ bool Elevator::GetUseEncoder(){
return useEncoder; return useEncoder;

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@ -25,9 +25,9 @@ class Elevator{
/** /**
* @brief Runs the 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) * @brief Sets the encoder value to 0 (unused)
*/ */
@ -59,9 +59,9 @@ class Elevator{
/** /**
* @brief Use the elevator encoder (unused) * @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) * @brief Gets the state of useEncoder (unused)
* *

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@ -23,9 +23,9 @@ class Pneumatics: public Subsystem{
/** /**
* @brief Sets the state of the arms * @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 #endif
// vim: ts=2:sw=2:et // vim: ts=2:sw=2:et