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Code Issues Releases Wiki Activity

Robot fully works

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This commit is contained in:
Austen Adler 2015-02-07 17:04:16 -05:00
parent f8da6b1d22
commit 4c6e75969e
6 changed files with 23 additions and 18 deletions
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2
.env
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@ -7,7 +7,7 @@ function mc(){
function mk(){
vagrant ssh -c "cd /vagrant/src;make"
}
function md(){
function me(){
vagrant ssh -c "cd /vagrant/src;make deploy"
}
function ma(){

2
Commands/Autonomous/AutoDrive.cpp
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@ -13,7 +13,7 @@ void AutoDrive::Execute(){
DentRobot::drivetrain->DriveMecanum(0.5,0,0,0.9,0);
}
bool AutoDrive::IsFinished(){
return false;
return IsTimedOut();
}
void AutoDrive::End(){
}

4
Commands/Drivetrain/Drive.cpp
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@ -18,10 +18,6 @@ void Drive::Execute(){
if (DentRobot::oi->GetLeftStick()->GetRawButton(2)){
y=0;
}
if (DentRobot::oi->GetLeftStick()->GetRawAxis(3)<=0.5){
y /= 2;
z /= 2;
}
//X axis, Y axis, Z axis, sensitivity, speed threshold (usually throttle), gyro
DentRobot::drivetrain->DriveMecanum(x,y,z,0.9,0);
}

7
Commands/Elevator/Lower.cpp
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@ -4,13 +4,14 @@
Lower::Lower() : Command("Lower"){
}
void Lower::Initialize(){
SetTimeout(2.0);
SetTimeout(1.0);
}
void Lower::Execute(){
DentRobot::elevator->Run((-DentRobot::oi->GetLeftStick()->GetRawAxis(3)+1.0)/2);
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{
return false;

7
Commands/Elevator/Raise.cpp
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@ -4,13 +4,14 @@
Raise::Raise() : Command("Raise"){
}
void Raise::Initialize(){
SetTimeout(2.0);
SetTimeout(2.5);
}
void Raise::Execute(){
DentRobot::elevator->Run(-(-DentRobot::oi->GetLeftStick()->GetRawAxis(3)+1.0)/2);
DentRobot::elevator->Run(1.0);
}
bool Raise::IsFinished(){
if (DentRobot::elevator->GetElevatorTop()||IsTimedOut()){
if (!DentRobot::elevator->GetElevatorTop()||IsTimedOut()){
printf("Robot stoped raising. Sensor based? %d\n", !DentRobot::elevator->GetElevatorTop());
return true;
}else{
return false;

19
OI.cpp
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@ -7,21 +7,28 @@
#include "Commands/Collector/ReleaseTote.h"
OI::OI() {
// Joysticks
leftStick=new Joystick(0);
rightStick=new Joystick(1);
//TODO name these buttons to their functions rather to their number
// Collector
JoystickButton *right1=new JoystickButton(rightStick, 1);
JoystickButton *right2=new JoystickButton(rightStick, 2);
JoystickButton *left3=new JoystickButton(leftStick, 3);
JoystickButton *left4=new JoystickButton(leftStick, 4);
right1->WhileHeld(new OpenCollector());
right2->WhileHeld(new CloseCollector());
left3->WhileHeld(new CollectTote());
left4->WhileHeld(new ReleaseTote());
// Elevator
JoystickButton *right3=new JoystickButton(rightStick, 3);
JoystickButton *right4=new JoystickButton(rightStick, 4);
JoystickButton *right5=new JoystickButton(rightStick, 5);
JoystickButton *right6=new JoystickButton(rightStick, 6);
right1->WhileHeld(new OpenCollector());
right2->WhileHeld(new CloseCollector());
right3->WhileHeld(new CollectTote());
right4->WhileHeld(new ReleaseTote());
right3->WhenPressed(new Lower());
right4->WhenPressed(new Lower());
right5->WhenPressed(new Raise());
right6->WhenPressed(new Lower());
right6->WhenPressed(new Raise());
}
Joystick* OI::GetRightStick(){
return rightStick;