team2059/dent
2
0
Fork 0
mirror of https://github.com/team2059/Dent synced 2025-01-07 22:14:14 -05:00
Code Issues Releases Wiki Activity

Robot works, used throttle to control power of collcetor/elevator

Browse Source
This commit is contained in:
Austen Adler 2015-02-04 20:57:33 -05:00
parent ed2ae766fb
commit 578efd7a88
8 changed files with 17 additions and 21 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

5
Commands/Collector/CollectTote.cpp
View File

@ -6,13 +6,14 @@ void CollectTote::Initialize(){
} }
void CollectTote::Execute(){ void CollectTote::Execute(){
//TODO check this value to move the motors in the right direction //TODO check this value to move the motors in the right direction
DentRobot::collector->MoveRollers(-1.0); printf("collecting tote\n");
DentRobot::collector->MoveRollers(-(-DentRobot::oi->GetLeftStick()->GetRawAxis(3)+1.0)/2);
} }
bool CollectTote::IsFinished(){ bool CollectTote::IsFinished(){
return DentRobot::collector->BoxCollected(); return DentRobot::collector->BoxCollected();
} }
void CollectTote::End(){ void CollectTote::End(){
DentRobot::collector->MoveRollers(0.0f); DentRobot::collector->MoveRollers(0.0);
} }
void CollectTote::Interrupted(){ void CollectTote::Interrupted(){
End(); End();

3
Commands/Collector/ReleaseTote.cpp
View File

@ -6,7 +6,8 @@ void ReleaseTote::Initialize(){
} }
void ReleaseTote::Execute(){ void ReleaseTote::Execute(){
//TODO check this value to move the motors in the right direction //TODO check this value to move the motors in the right direction
DentRobot::collector->MoveRollers(1.0f); printf("releasing tote\n");
DentRobot::collector->MoveRollers((-DentRobot::oi->GetLeftStick()->GetRawAxis(3)+1.0)/2);
} }
bool ReleaseTote::IsFinished(){ bool ReleaseTote::IsFinished(){
return DentRobot::collector->BoxCollected(); return DentRobot::collector->BoxCollected();

2
Commands/Elevator/Lower.cpp
View File

@ -5,7 +5,7 @@ Lower::Lower() : Command("Lower"){
void Lower::Initialize(){ void Lower::Initialize(){
} }
void Lower::Execute(){ void Lower::Execute(){
DentRobot::elevator->Run(-0.4f); DentRobot::elevator->Run((-DentRobot::oi->GetLeftStick()->GetRawAxis(3)+1.0)/2);
} }
bool Lower::IsFinished(){ bool Lower::IsFinished(){
return false; return false;

3
Commands/Elevator/Raise.cpp
View File

@ -1,11 +1,12 @@
#include "Raise.h" #include "Raise.h"
#include "../../DentRobot.h" #include "../../DentRobot.h"
#include "../../OI.h"
Raise::Raise(){ Raise::Raise(){
} }
void Raise::Initialize(){ void Raise::Initialize(){
} }
void Raise::Execute(){ void Raise::Execute(){
DentRobot::elevator->Run(0.4f); DentRobot::elevator->Run(-(-DentRobot::oi->GetLeftStick()->GetRawAxis(3)+1.0)/2);
} }
bool Raise::IsFinished(){ bool Raise::IsFinished(){
return false; return false;

11
OI.cpp
View File

@ -5,10 +5,7 @@
#include "Commands/Collector/CloseCollector.h" #include "Commands/Collector/CloseCollector.h"
#include "Commands/Collector/CollectTote.h" #include "Commands/Collector/CollectTote.h"
#include "Commands/Collector/ReleaseTote.h" #include "Commands/Collector/ReleaseTote.h"
#include "Commands/Collector/StopCollector.h"
#include "Commands/Collector/StopArm.h"
#include "Commands/Compressor/StartCompressing.h" #include "Commands/Compressor/StartCompressing.h"
#include "Commands/Compressor/StopCompressing.h"
OI::OI() { OI::OI() {
leftStick=new Joystick(0); leftStick=new Joystick(0);
@ -20,16 +17,12 @@ OI::OI() {
JoystickButton *left4=new JoystickButton(leftStick, 4); JoystickButton *left4=new JoystickButton(leftStick, 4);
JoystickButton *left5=new JoystickButton(leftStick, 5); JoystickButton *left5=new JoystickButton(leftStick, 5);
JoystickButton *left6=new JoystickButton(leftStick, 6); JoystickButton *left6=new JoystickButton(leftStick, 6);
JoystickButton *left7=new JoystickButton(leftStick, 7);
JoystickButton *left8=new JoystickButton(leftStick, 8);
left1->WhileHeld(new OpenCollector()); left1->WhileHeld(new OpenCollector());
left2->WhileHeld(new CloseCollector()); left2->WhileHeld(new CloseCollector());
left3->WhileHeld(new CollectTote()); left3->WhileHeld(new CollectTote());
left4->WhileHeld(new ReleaseTote()); left4->WhileHeld(new ReleaseTote());
left5->WhileHeld(new StartCompressing()); left5->WhileHeld(new Raise());
left6->WhileHeld(new StopCompressing()); left6->WhileHeld(new Lower());
left7->WhileHeld(new Raise());
left8->WhileHeld(new Lower());
} }
Joystick* OI::GetRightStick(){ Joystick* OI::GetRightStick(){
return rightStick; return rightStick;

6
Subsystems/Collector.cpp
View File

@ -14,7 +14,8 @@ void Collector::MoveArms(float a){
windowMotorLeft->Set(a); windowMotorLeft->Set(a);
windowMotorRight->Set(-a); windowMotorRight->Set(-a);
} }
void Collector::MoveRollers(float a){ void Collector::MoveRollers(double a){
printf("Collector: %f\n", a);
collectorMotorLeft->Set(a); collectorMotorLeft->Set(a);
collectorMotorRight->Set(-a); collectorMotorRight->Set(-a);
} }
@ -23,5 +24,6 @@ bool Collector::ArmSensor(){
return false; return false;
} }
bool Collector::BoxCollected(){ bool Collector::BoxCollected(){
return boxSwitch->Get(); return false;
//return boxSwitch->Get();
} }

2
Subsystems/Collector.h
View File

@ -11,7 +11,7 @@ class Collector: public Subsystem
Collector(); Collector();
void InitDefaultCommand(); void InitDefaultCommand();
void MoveArms(float); void MoveArms(float);
void MoveRollers(float); void MoveRollers(double);
bool ArmSensor(); bool ArmSensor();
bool BoxCollected(); bool BoxCollected();
}; };

6
TODO.txt
View File

@ -1,4 +1,2 @@
Release for all buttons does not work Compressor isn't in use
raise is pushed, elevator raises, lower is pushed, elevator lowers, raise is pushed, no effect (dos compressor on compressor start or stop)?
lower is pushed, elevator lowers, raise is pushed, no effect
dos compressor on compressor start or stop