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Merge branch clenaup

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This commit is contained in:
Adam Long 2015-02-28 08:28:39 +00:00
commit 60963fe2a6
15 changed files with 46 additions and 48 deletions
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8
Commands/Autonomous/AutoDrive.cpp
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@ -1,17 +1,17 @@
#include "AutoDrive.h"
#include "../../DentRobot.h"
// Drive for a short while then stop. Just for testing
AutoDrive::AutoDrive(double duration, double xtmp=-0.75, double ytmp=0) : Command("AutoDrive"){
AutoDrive::AutoDrive(double duration, double xtmp=0, double ytmp=-0.75) : Command("AutoDrive"){
Requires(DentRobot::drivetrain);
SetTimeout(duration);
speed=xtmp;
strafe=ytmp;
x=xtmp;
y=ytmp;
}
void AutoDrive::Initialize(){
}
void AutoDrive::Execute(){
//X axis, Y axis, Z axis, sensitivity, speed threshold (usually throttle), gyro
DentRobot::drivetrain->DriveMecanum(strafe,speed,0.0,0.9,0.0);
DentRobot::drivetrain->DriveMecanum(x, y, 0.0, 0.9, 0.0);
}
bool AutoDrive::IsFinished(){
return IsTimedOut();

2
Commands/Autonomous/AutoDrive.h
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@ -8,7 +8,7 @@
class AutoDrive: public Command{
private:
double speed, strafe;
double x, y;
public:
AutoDrive(double);
AutoDrive(double, double, double);

22
Commands/Autonomous/Autonomous.cpp
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@ -15,20 +15,20 @@ Autonomous::Autonomous(int seq){
switch(seq){
case 0:
// Just for testing
AddSequential(new AutoDrive(.5,0,.25));
// Strafe at .25 power
AddSequential(new AutoDrive(0.5, 0.25, 0.0));
break;
case 1:
// Wait a desigated value, drive to Auto Zone (TM)
// Drive to Auto Zone (TM)
Wait(SmartDashboard::GetNumber("Auto Wait Time"));
AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Zone Distance"), 0.8,0.0));
AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Zone Distance"), 0.0, -0.8));
break;
case 2:
// Wait a desigated value, drive to Auto Zone (TM)
// Collect a tote, turn, drive to Auto Zone (TM)
Wait(SmartDashboard::GetNumber("Auto Wait Time"));
AddSequential(new Turn(SmartDashboard::GetNumber("TurnAmount")));
AddSequential(new BinRaise(1.2));
AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Zone Distance"),0.75,0.0));
//AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Zone Distance"), 0.0,-1.0));
AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Zone Distance"), 0.0, -0.75));
AddSequential(new BinLower(1.0));
AddSequential(new Turn(SmartDashboard::GetNumber("TurnAmount")));
break;
@ -37,22 +37,22 @@ 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"), -0.75,0));
AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Tote Distance"), 0, 0.75));
AddSequential(new CollectTote());
AddSequential(new Raise());
AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Tote Distance"), -0.75,0));
AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Tote Distance"), 0, 0.75));
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"), -0.75,0));
AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Tote Distance"), 0, 0.75));
AddSequential(new CollectTote());
AddSequential(new Lower());
AddSequential(new Raise());
}
AddSequential(new Turn(90));
AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Zone Distance"), -0.75,0));
AddSequential(new Turn(SmartDashboard::GetNumber("TurnAmount")));
AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Zone Distance"), 0, 0.75));
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, -0.75,0));
AddParallel(new AutoDrive(1.0, -0.75, 0.0));
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, 0.75,0));
AddParallel(new AutoDrive(0.5, 0, 0.75));
}
// vim: ts=2:sw=2:et

2
Commands/Collector/RollOut.cpp
View File

@ -8,7 +8,7 @@ void RollOut::Initialize(){
void RollOut::Execute(){
//TODO check this value to move the motors in the right direction
// Devide by 2 twice because this speed should be half the collector speed
DentRobot::collector->MoveRollers(-DentRobot::oi->GetLeftThrottle()*.8);
DentRobot::collector->MoveRollers(-DentRobot::oi->GetLeftThrottle() * 0.8);
}
bool RollOut::IsFinished(){
return IsTimedOut();

6
Commands/Drivetrain/Drive.cpp
View File

@ -7,10 +7,10 @@ void Drive::Initialize(){
}
void Drive::Execute(){
double x, y, z;
//Code to lock the x axis when not holding button 1
x = DentRobot::oi->GetLeftStick()->GetRawAxis(0);
y = -DentRobot::oi->GetLeftStick()->GetRawAxis(1);
z = DentRobot::oi->GetLeftStick()->GetRawAxis(2);
y = DentRobot::oi->GetLeftStick()->GetRawAxis(1);
//Code to lock the x axis when not holding button 1
//if (DentRobot::oi->GetLeftStick()->GetRawButton(1)){
// x=0;
//}
@ -18,7 +18,7 @@ void Drive::Execute(){
// y=0;
//}
//X axis, Y axis, Z axis, sensitivity, speed threshold (usually throttle), gyro
DentRobot::drivetrain->DriveMecanum(x,y,z,0.9,0);
DentRobot::drivetrain->DriveMecanum(x, y, z, 0.9, 0.0);
}
bool Drive::IsFinished(){
return IsTimedOut();

4
DentRobot.cpp
View File

@ -18,8 +18,6 @@ DentRobot::DentRobot(){
pneumatics=new Pneumatics();
//CameraServer::GetInstance()->SetQuality(25);
//CameraServer::GetInstance()->StartAutomaticCapture("cam0");
//SmartDashboard::PutNumber("Auto Wait Time", 1.0);
//SmartDashboard::PutNumber("Auto Sequence", 0);
printf("The robot is on\n");
}
void DentRobot::RobotInit(){
@ -35,7 +33,7 @@ void DentRobot::RobotInit(){
SmartDashboard::PutNumber("Auto Zone Distance", 2.8);
// Distance (in time) to auto tote (used in sequence 3)
SmartDashboard::PutNumber("Auto Tote Distance", 0.5);
SmartDashboard::PutNumber("TurnAmount",2);
SmartDashboard::PutNumber("TurnAmount", 2.0);
// Elevators
SmartDashboard::PutBoolean("Bin Elevator Bottom", false);

4
Subsystems/Drivetrain.cpp
View File

@ -12,9 +12,9 @@ void Drivetrain::InitDefaultCommand(){
SetDefaultCommand(new Drive());
}
void Drivetrain::DriveMecanum(float x, float y, float z, float sensitivity, float gyro){
double correctY = (sensitivity*(pow(y,3))+(1-sensitivity)*y);
double correctX = -(sensitivity*(pow(x, 3))+(1-sensitivity)*x);
double correctZ = -z *.5;
double correctY = -(sensitivity*(pow(y, 3))+(1-sensitivity)*y);
double correctZ = -z * 0.5;
if (DentRobot::oi->GetLeftStick()->GetRawButton(9)){
correctY /= SmartDashboard::GetNumber("DriveSpeedReductionThresh");
}