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Code Issues Releases Wiki Activity

potential auto fixes maybe idk rlly

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This commit is contained in:
Adam Long 2015-02-26 18:59:01 +00:00
parent d2c4205bbc
commit 5d1b61a109
5 changed files with 14 additions and 14 deletions
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7
Commands/Autonomous/AutoDrive.cpp
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@ -1,16 +1,17 @@
#include "AutoDrive.h"
#include "../../DentRobot.h"
// Drive for a short while then stop. Just for testing
AutoDrive::AutoDrive(double duration, double p=-0.75) : Command("AutoDrive"){
AutoDrive::AutoDrive(double duration, double xtmp=-0.75, double ytmp=0) : Command("AutoDrive"){
Requires(DentRobot::drivetrain);
SetTimeout(duration);
power=p;
speed=xtmp;
strafe=ytmp;
}
void AutoDrive::Initialize(){
}
void AutoDrive::Execute(){
//X axis, Y axis, Z axis, sensitivity, speed threshold (usually throttle), gyro
DentRobot::drivetrain->DriveMecanum(0.0,power,0.0,0.9,0.0);
DentRobot::drivetrain->DriveMecanum(strafe,speed,0.0,0.9,0.0);
}
bool AutoDrive::IsFinished(){
return IsTimedOut();

4
Commands/Autonomous/AutoDrive.h
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@ -8,10 +8,10 @@
class AutoDrive: public Command{
private:
double power;
double speed, strafe;
public:
AutoDrive(double);
AutoDrive(double, double);
AutoDrive(double, double,double);
void Initialize();
void Execute();
bool IsFinished();

13
Commands/Autonomous/Autonomous.cpp
View File

@ -13,13 +13,12 @@ Autonomous::Autonomous(int seq){
switch(seq){
case 0:
// Just for testing
AddSequential(new CollectTote());
AddSequential(new Turn(90));
AddSequential(new AutoDrive(.5,0,.25));
break;
case 1:
// Wait a desigated value, drive to Auto Zone (TM)
Wait(SmartDashboard::GetNumber("Auto Wait Time"));
AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Zone Distance"), -0.75));
AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Zone Distance"), -0.75,0));
break;
case 2:
// Get one tote and go to Auto Zone (TM)
@ -32,22 +31,22 @@ Autonomous::Autonomous(int seq){
printf("Waiting: %f\n",SmartDashboard::GetNumber("Auto Wait Time"));
Wait(SmartDashboard::GetNumber("Auto Wait Time"));
printf("Done");
AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Tote Distance"), -0.75));
AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Tote Distance"), -0.75,0));
AddSequential(new CollectTote());
AddSequential(new Raise());
AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Tote Distance"), -0.75));
AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Tote Distance"), -0.75,0));
AddSequential(new CollectTote());
AddSequential(new Lower());
AddSequential(new Raise());
printf("Three totes?: %d\n",SmartDashboard::GetBoolean("Three totes"));
if(SmartDashboard::GetBoolean("Three totes")){
AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Tote Distance"), -0.75));
AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Tote Distance"), -0.75,0));
AddSequential(new CollectTote());
AddSequential(new Lower());
AddSequential(new Raise());
}
AddSequential(new Turn(90));
AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Zone Distance"), -0.75));
AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Zone Distance"), -0.75,0));
AddSequential(new ReleaseTote());
break;
default:

2
Commands/Autonomous/CollectTote.cpp
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@ -3,7 +3,7 @@
#include "AutoDrive.h"
#include "../Collector/RollIn.h"
CollectTote::CollectTote(){
AddParallel(new AutoDrive(1.0, -0.75));
AddParallel(new AutoDrive(1.0, -0.75,0));
AddSequential(new RollIn(1.0));
}
// vim: ts=2:sw=2:et

2
Commands/Autonomous/ReleaseTote.cpp
View File

@ -4,6 +4,6 @@
#include "../Collector/RollOut.h"
ReleaseTote::ReleaseTote(){
AddParallel(new RollOut());
AddParallel(new AutoDrive(0.5, 0.75));
AddParallel(new AutoDrive(0.5, 0.75,0));
}
// vim: ts=2:sw=2:et