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https://github.com/team2059/Dent
synced 2024-12-18 20:52:29 -05:00
Added older auto sequences
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@ -7,7 +7,7 @@ AutoDrive::AutoDrive(double duration, double xtmp, double ytmp, double ztmp, boo
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x=xtmp;
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x=xtmp;
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y=ytmp;
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y=ytmp;
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z=ztmp;
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z=ztmp;
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gyro=false;
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gyro=useGyro;
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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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DentRobot::drivetrain->ResetGyro();
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@ -74,6 +74,20 @@ Autonomous::Autonomous(int seq){
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// Same as auto 4 with (Three|Two) totes checked, collect bin, drive to Auto Zone (TM), release totes
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// Same as auto 4 with (Three|Two) totes checked, collect bin, drive to Auto Zone (TM), release totes
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//TODO: Implement this
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//TODO: Implement this
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break;
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break;
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case 8:
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//Use rear elevator to move tote
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AddSequential(new BinRaise(1));
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AddSequential(new Turn(2.1));
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AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Zone Distance"),0.0,0.75));
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AddSequential(new Turn(2.1));
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break;
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case 9:
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//Use rear elevator to move tote
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AddSequential(new BinLower(1.5));
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AddSequential(new Turn(2.1));
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AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Zone Distance"),0.0,-0.75));
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AddSequential(new Turn(2.1));
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break;
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default:
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default:
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printf("Invalid seq: %d\n", seq);
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printf("Invalid seq: %d\n", seq);
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break;
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break;
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@ -13,7 +13,7 @@ void RollIn::Execute(){
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//}else{
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//}else{
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// DentRobot::collector->MoveRollers(cvt*1.5);
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// DentRobot::collector->MoveRollers(cvt*1.5);
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//}
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//}
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DentRobot::collector->MoveRollers(DentRobot::oi->GetLeftThrottle() * 0.8);
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DentRobot::collector->MoveRollers(DentRobot::oi->GetLeftThrottle() * 1.0);
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}
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}
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bool RollIn::IsFinished(){
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bool RollIn::IsFinished(){
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return IsTimedOut();
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return IsTimedOut();
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